摘要
本文介绍了单级旋转倒立摆系统的构成和数学模型 ,根据倒立摆系统的数学模型在Matlab环境下设计了两种控制器 ,并进行仿真。仿真结果表明了最优控制策略LQR控制器的控制效果要优于闭环状态反馈极点配置调节器。
The structure and mathematic model of Single-Rotational Inverted Pendulum (RIP) is presented in this paper. Two controller for RIP are created. The result of simulation based on Matlab shows that the LQR Controller is superior to the State-feedback Controller.
出处
《机器人技术与应用》
2002年第5期43-46,共4页
Robot Technique and Application
