单级倒立摆的PID和LQR控制效果的比较

PID and LQR Control Comparison for First-order Inverted Pendulum

建立了单级倒立摆数学模型,对其线性化;针对线性倒立摆模型设计PID和LQR控制器,将两种控制器分别应用于倒立摆非线性模型,研究此时系统性能,然后将其与线性模型时进行对比。仿真结果说明基于线性模型设计的LQR控制器同样适用于非线性模型。

This paper establishes a mathematical model of first-order inverted pendulum and linearize the model,and designs PID and LQR controllers for the linear inverted pendulum model and applies them to the nonlinear model,and studies the performance of the system,and then compares it with the linear model.The simulation results indicate that the LQR controller based on the linear model can also be applied to the nonlinear model.