关键词: 倒立摆, 极点配置, LQR, 非线性

Abstract:

In this paper a nonlinear mathematic model for linear single IPS is built,taking advantage of classical mechanics.We use Matlab to qualitatively analyze the system based on equations of motion for the IPS.The controller is designed by pole assignment and LQR,and the effects of all parameters on the system control are evaluated.Given the nonlinear property of the IPS,we study the principles in variable structure control (VSS) among nonlinear controlling approaches,and design the controller.

Key words: inverted pendulum;pole assignment;LQR;nonlinear system