采用模拟调节器的二级倒立摆的控制

Control of a Double Inverted Pendulum Using an Analogue Regulator

摘要: 二级倒立摆的研究已经进行了很长时间，从发表的文献看，采用降阶观测器的模拟控制器的尝试未能取得良好的效果，最终转向采用数字计算机．本文成功地以降阶观测器这样简单的模拟控制器，实现了对二级倒立摆的控制系统受到大的干扰或人为改变实际模型参数时，能非常稳定的工作．

Abstract: The research about control of an inverted pendulum has been carried out for a long time.However it was failed in using an analogue controller with the reduced order observer and turned to implement the control system with a digital one.In this paper we first time implement the control system with an analogue controller in partial order observer structures.The system is quite stable even under large disturbance and artifitial parameter perturbation of the practical model.It has been used for education in the Modern Control Theory experiment.

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