倒立摆摆起的能量控制算法研究及仿真

Research and simulation of energy-control in swing-up of inverted-pendulum

本文对单级小车倒立摆摆起的能量控制方法进行了研究,讨论了能量控制理论及控制策略,并用MATLAB对其进行仿真分析,仿真结果证明能够达到控制要求。

In this paper, the energy-control method used in swing-up of single-level car inverted-pendulum is researched. Energy- control theory and control tactics are discussed, and simulated in MATLAB. The simulation record proves it can get to the control re- quirement.