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倒立摆控制系统线性化后的线性二次调节器

于 2022-08-17 发布 文件大小:1.21 kB
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代码说明:

应用背景倒立摆系统是控制系统中较常见的模型,本代码根据非线性的倒立摆系统模型进行线性建模,线性法通过微分叠加实现,最后采取LQR控制法进行控制,使其系统稳定关键技术倒立摆控制系统线性化后的线性二次调节器LQR(linear quadratic regulator)控制的应用,经运行系统趋于稳定,该系统为单倒立摆,模型为非线性模型,控制时对模型进行线性化

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