直线二级倒立摆控制问题的研究与仿真分析

In recent years, the control problem of the linear two-link inverted pendulum has been widely researched by scholars. This system serves as a typical device for testing the effectiveness of various new control theories and methods due to its characteristics of being a multi-variable, non-linear, strongly coupled, and fast-moving high-order unstable system. This research paper focuses on the control problem of the linear two-link inverted pendulum. Firstly, it outlines the research development and current status of control for inverted pendulum systems. It then introduces the structure of the inverted pendulum system and elaborates on the mathematical model of the two-link inverted pendulum. Different controllers were designed using pole placement and LQR optimal control methods. Through comparison and MATLAB simulations, the effectiveness, stability, and disturbance rejection abilities of the designed controllers were verified. Keywords: Inverted pendulum; Pole placement; Optimal control; MATLAB; Simulation.