基于参数优选法LQG最优控制的倒立摆控制

Controlling of Single Inverted Pendulum System Based on LQG

为了实现对单级倒立摆系统的控制,提出了一种基于LQG(线性二次型高斯控制)的倒立摆系统控制方法。利用LQR(线性二次最优)构建系态反馈矩阵,再结合Kalman滤波器,综合得到了LQG控制器,并对该控制器的参数进行了优化设计。通过MATLAB仿真,验证了采用的控制算法能够有效地对单级倒立摆系统进行控制,系统超调量较小,并具有一定的鲁棒性。

In order for controlling a single inverted pendulum system,an optimum control based on LQG is proposed in this pa- per.First,building a model of single inverted pendulum system.Next,solving the optimum feedback matrix of system by LQR. And then,designing Kalman filter for observing the state of system with disturbance.Finally,synthesizing the optimum feed- back matrix and Kalman filter to obtaining the LQG controller.The parameters of the LQG controller are optimized by simu- lation experiment.MATLAB simulation experiments show that the controller can achieve a good effect for controlling single inverted pendulum system.The overshoot of the system is low and robustness is good.