摘要
对已有的LQR最优控制中系统的动态响应与加权矩阵Q和R之间遵循的基本规律进行分析,并根据这一基本规律对给定的直线一阶单倒立摆采用线性二次型最优控制的方法设计控制器。仿真结果表明,基于LQR的最优控制系统对直线一阶单倒立摆具有很好的控制效果。
The existing dynamic response of the LQR optimal control system and the basic rules of the Q and R in weight- ed matrix are analyzed. The controller of the single inverted pendulum is designed based on the quadratic optimal control method according to the basic law. Simulation results show that the optimal control system based on LQR has good control ef- fect for linear first order single inverted pendulum.
出处
《自动化应用》
2014年第9期32-34,共3页
Automation Application
