基于一阶倒立摆的matlab仿真实验研究及参数优化控制方法

The experiment conducted at the Engineering and Technology College of Chengdu University of Technology focused on the control problem of a first-order inverted pendulum and optimized its parameters. Inverted pendulum is a typical fast, multivariable, nonlinear, strongly coupled, naturally unstable system. Due to the existence of many such systems in reality, research on it has profound theoretical and methodological significance. The paper begins by briefly introducing the inverted pendulum and its control methods, and categorically discusses the parameter optimization algorithm. It then introduces the configuration of the state space poles and PID control of the selected optimization parameters. Subsequently, a mathematical model of the first-order inverted pendulum is established and its state space description is obtained. The emphasis of the paper is on the implementation method using pole configuration in the state space. Finally, Simulink is used to simulate the system, and two of the most effective control methods for practical control are determined.