直线一级倒立摆系统的频率响应设计分析

Analysis and design of linear 1-stage inverted pendulum system frequence response

利用牛顿—欧拉方法建立直线型一级倒立摆系统的数学模型。在分析的基础上,基于频率响应设计法思想,设计直线型一级倒立摆系统的超前校正控制器。由MATLAB仿真验证设计的控制器是合理的。

In this paper,using newton-eulerian method,a mathematical model is established for a Linear 1-stage inverted pendulum system.On the basis of analysis,based on frequence response design method,this paper presented an advance correction controller for a linear 1-stage inverted pendulum system.Use MATLAB to Simulate,results show that the presented method is effective.