"直线二级倒立摆控制问题研究及Matlab仿真验证"

In recent years, researchers have conducted extensive studies on the inverted pendulum system, which is a typical device for testing the effectiveness of various new control theories and methods. This study focuses on the control problem of the linear two-stage inverted pendulum. The paper begins by discussing the research development and current status of control in inverted pendulum systems. It then introduces the structure of the inverted pendulum system and meticulously derives the mathematical model of the two-stage inverted pendulum. Different controllers are designed using pole placement and LQR optimal control methods. Through comparison and MATLAB simulations, the effectiveness, stability, and disturbance rejection capabilities of the designed controllers are validated. Keywords: Inverted Pendulum; Pole Placement; Optimal Control; MATLAB; Simulation Overall, this study provides a comprehensive analysis of the control problem in the linear two-stage inverted pendulum system. By applying advanced control techniques and conducting thorough simulations, the study contributes to the understanding and improvement of control strategies for high-order unstable systems like the inverted pendulum. The findings and methodology presented in this paper can serve as a valuable reference for researchers and practitioners in the field of control engineering.