二级倒立摆广义通用模型控制器的设计

The Designing of Common Model Controller in Double Inverted Pendulum

二级倒立摆系统是一个典型的多变量、非线性、强耦合和快速运动的高阶不稳定系统,针对二级倒立摆系统,应用Lie导数概念结合广义通用模型控制器原理对于二级倒立摆系统的控制器进行设计,它可以将被控对象的模型嵌入到控制器中,使得闭环系统是一个线性系统,适当地选择主导极点可以获得比较好的调节品质,仿真结果验证了所设计的控制器的有效性。

the inverted pendulum is a typical high order system with multi-variable, non-linear, strong-coupling, fleet and absolutely instable properties. In view of the double inverted pendulum system, combined with the application of Lie derivative concept generalized common model control principle of double inverted pendulum controller was designed for, it can will be charged object model is embedded into the controller, such that the closed-loop system is a linear system, appropriate selection of dominant pole can get good control quality. The simulation results verify the effectiveness of the designed controller.