摘要
从刚体运动学角度分析了二级倒立摆系统的运动，并利用有关动力学基础和拉格朗日方程，运用状态空间法对二级倒立摆系统进行数学模型的建立．二级倒立摆系统数学模型的建立对倒立摆和其它类似非线性系统稳定性的研究具有理论指导作用．
This paper analyzed the movement of a double inverted pendulum from the movement of the rigid body. Using dynamics and Lagarange method as well as state space to model for the double inverted pendulum, which is the theoretic guidance for the studying of the stability for the nonlinear system.
出处
《河北工业大学学报》
CAS
2001年第5期48-51,共4页
Journal of Hebei University of Technology
基金
河北省重点学科基金资助项目
