"直线二级倒立摆控制问题的研究与仿真-毕业论文"

In recent years, researchers have conducted extensive studies on the control problems of inverted pendulum systems. This thesis focuses on the control problem of a linear two-stage inverted pendulum. The research process and current status of control in inverted pendulum systems are first discussed. Then, the structure of the inverted pendulum system is introduced, and the mathematical model of the two-stage inverted pendulum is derived in detail. Different controllers are designed using pole placement and LQR optimal control methods. The effectiveness, stability, and disturbance rejection capabilities of these controllers are validated through comparison and MATLAB simulations. This study contributes to the understanding and application of control techniques in complex and unstable systems like the inverted pendulum. Keywords: inverted pendulum; pole placement; optimal control; MATLAB; simulation.