基于线性二次型最优控制器的平行双倒立摆系统稳定控制

Stabilization Control of Parallel Type Inverted Pendulum Based on Linear Quadratic Optimal Controller

倒立摆控制系统是一个典型的高阶次、不稳定、多变量、非线性和强耦合控制系统。本文在建立平行双倒立摆控制系统数学模型的基础上,设计了线性二次型最优调节器(LQR)以实现对平行双倒立摆系统的最优控制,并通过MATLAB仿真实验验证了该方法的有效性。

Inverted pendulum control system is a typical high order , unstable, multivariable, nonlinear and strong coupling control system .Based on building the mathematical model of the parallel double inverted pendulum control system , the linear quad-ratic regulator （LQR for short） is designed to achieve optimal control of the parallel double inverted pendulum system .Simulation experiments show that the method is effective .