摘要
介绍倒立摆装置的结构及组成,给出此装置的数学模型及模型参数的确定方法,采用最优控制策略,实现倒立摆的稳定控制.对于倒立摆的简单制做及其控制研究具有一定的参考意义.
This paper presents constructions and components of inverted pendulum mechanism. It also presents its mathematical model and the method of solving the model parameters. The optimum control strategy is used to realize the stability control of the inverted pendulum. It is valuable for the research of simply manufacturing and control of inversed pendulum.
出处
《沈阳化工学院学报》
2003年第3期227-229,共3页
Journal of Shenyang Institute of Chemical Technolgy
关键词
倒立摆
状态空间表达式
最优控制
inverted pendulum
state space expression
optimum control
