直线二级倒立摆的控制问题研究及MATLAB仿真验证——河南理工大学毕业设计总结

Inverted pendulum system is a typical multi-variable, non-linear, strong coupling and fast-moving high-order unstable system, which is a typical device to test the effectiveness of various new control theories and methods. In recent years, many scholars have conducted extensive research on inverted pendulum systems. This study focuses on the control problem of a linear two-stage inverted pendulum. Firstly, the research development process and current situation of the control of the inverted pendulum system are elaborated. Then, the structure of the inverted pendulum system is introduced, and the mathematical model of the two-stage inverted pendulum is derived in detail. In this study, different controllers are designed using pole placement and LQR optimal control respectively. Through comparison and MATLAB simulation, the effectiveness, stability and disturbance rejection of the designed controllers are verified. Keywords: inverted pendulum; pole placement; optimal control; MATLAB; simulation Overall, the research on the control problem of linear two-stage inverted pendulum provides insights into the design and implementation of controllers for unstable systems. The findings contribute to the development of control strategies for complex high-order systems and demonstrate the effectiveness of pole placement and LQR optimal control in stabilizing and controlling the inverted pendulum system. The MATLAB simulations further validate the performance of the designed controllers in terms of stability and disturbance rejection. This study sheds light on the importance of control theory in addressing challenges posed by non-linear and unstable systems, and highlights the significance of applying advanced control techniques in practical engineering applications.