基于状态空间法的倒摆系统稳定控制

Control to the inverted pendulun based on the state-space approach

利用状态空间法实现对2级倒立摆系统的稳定控制.文中从刚体运动学角度分析了2级倒立摆系统的运动,并利用有关动力学基础,运用状态空间法建立2级倒立摆系统的数学模型,并对其进行线性化处理.对线性化后的模型进行极点配置,给出K阵,用软件实现了稳定控制.

According to the statespace approach, we realized the control of the two inverted pendulum. In this paper, we analyzed the movement of the two inverted pendulum from the point of the movement. Its mathmodel was founded and linearized . We got the K matrix. At last, the steady control was realized by software.