现代电子技术2011，Vol.34Issue(10)：88-90,3.
倒立摆状态反馈极点配置与LQR控制Matlab实现
Design of State Feedback Pole Placement and LQR Controller for Inverted Pendulum Based on Matlab
刘文秀 1郭伟 2余波年1
作者信息
- 1. 广东韶关学院自动化系,广东韶关512005
- 2. 广东韶关大江南输变电工程有限公司,广东韶关521005
- 折叠
摘要
Abstract
The state feedback pole placement and LQR controller are adopted to control the inverted pendulum system which is absolute unstable nonlinear multivariable. The state feedback pole placement is to set the closed-loop system poles of multivariable systems on the desired position to make the system satisfy the performance indexes in transient state and steady state. LQR algorithm uses the least control energy under certain performance index to achieve the smallest state errors.Through the simulation experiment with Matlab software, it is discovered that the two methods have some control effect to this unstable inverted pendulum system. It proves that the two methods are feasible and efficient. Simulation shows that the quadratic optimal control has smaller oscillation and overshoot, and the system has better control effect.关键词
倒立摆/Matlab/LQR/极点配置Key words
inverted pendulum/ Matlab/ LQR/ pole placement分类
信息技术与安全科学引用本文复制引用
刘文秀,郭伟,余波年..倒立摆状态反馈极点配置与LQR控制Matlab实现[J].现代电子技术,2011,34(10):88-90,3.
