基于一级倒立摆的PID与LQR控制算法对比分析

PID and LQR Control Comparison Analysis for First-order Inverted Pendulum System

倒立摆系统是典型的快速、多变量、非线性、绝对不稳定系统,本文在给出一级倒立摆数学模型的基础上,设计了PID控制器与LQR控制器,并基于MATLAB软件对这两种控制算法进行了仿真对比分析,结果显示LQR控制算法的控制性能要优于PID控制算法。

This paper presents the model of first-order inverted pendulum which is a classical rapid, multi-variable, nonlinear and unstable system. PID controller and LQR controller comparison analysis results are obtained based on MATLAB software. Numerical examples illustrate that the effect of LQR controller is superior than PID controller.