摘要
该文根据一级直线型倒立摆的系统组成及其工作原理,建立了其状态空间方程。基于该状态空间模型,利用MATLAB求解、设计了一级倒立摆系统的二次型最佳调节器。仿真结果表明了该二次型最佳调节器的有效性。
In this paper,the state space equations of a single linear inverted pendulum system are built according to its constitution and working principle.Based on this state space model MATLAB is used in solving and designing the linear quadratic optimal regulator of this system.The simulation results show that the regulator for this inverted pendulum system is effective.
出处
《电脑知识与技术》
2010年第8X期6847-6849,共3页
Computer Knowledge and Technology
关键词
倒立摆
二次型最优调节器
状态空间
inverted pendulum systems
linear quadratic optimal regulator
state space
