二级倒立摆系统最优控制器设计
esign of optimal Controller for Double Inverted Pendulum
二级倒立摆系统是多变量、非线性的控制系统，论文利用lagrange方程建立了二级倒立摆的数学模型，并进行了稳定性分析。在此基础上，基于最优控制理论设计了二级倒立摆最优控制器，实物调试结果表明该最优控制器是有效、可行的。
he double inverted pendulum is a multivariable,nonlinear control system. The mathmatical model is gained by the Lagrange equation and the stablity is analyzed. On the base of above, the optimal controller for double inverted pendulun is designed by the optimization control theory. Real-time control proves that theoptimal controller is effective and feasible.
滕福林、汤玉东、胡卫国、刘大伟、陈鑫元、朱佳
自动化基础理论自动化技术、自动化技术设备
二级倒立摆稳定性最优控制器
ouble inverted pendulumStabilityOptimal controller
滕福林,汤玉东,胡卫国,刘大伟,陈鑫元,朱佳.二级倒立摆系统最优控制器设计[EB/OL].(2013-11-12)[2025-08-11].http://www.paper.edu.cn/releasepaper/content/201311-228.点此复制
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