摘要
分析了单级倒立摆数学模型,建立了其状态空间表达式,设计了单级倒立摆的最优控制系统,并应用MATLAB对单级倒立摆系统进行了仿真。仿真结果表明,该系统具有良好的稳定性、快速性与准确性。同时,分析了控制矩阵对系统性能的影响。
This paper analyzes the mathematical model of single inverted pendulum, presents a state space expression, and designs optimal control for a single inverted pendulum. Simulation with MATLAB shows that the system has good stability, rapidity and accuracy. Influence of the control matrix on the system performance is studied.
出处
《上海电机学院学报》
2012年第6期379-382,共4页
Journal of Shanghai Dianji University
关键词
单级倒立摆
线性二次型
最优控制
single inverted pendulum linear quadratic optimal control
