倒摆问题的研究及控制器设计

Research on Invert Pendulum and Design of Controller

本文建立了单倒摆系统的数学模型,用状态反馈控制配置系统极点,并利用全维状态观测设计控制器,实现状态反馈。仿真结果表明,该方法可使系统稳定工作并具有良好的动态性能。

This paper institutes a model of simple invert pendulum placements the pole via state feedback ,and designs the controller with whole state observers .The simulation result indicates that the dynamic characteristic is excellent and system stable.