This paper focuses on the study of a first-order inverted pendulum.Following Newton's second law of motion,a mathematical model expressing the state space of the inverted pendulum is established.Utilizing optimal control theory,a linear quadratic controller is designed.System modeling and simulation are conducted using MATLAB/Simulink software to analyze system stability.The results indicate that the linear quadratic controller exhibits characteristics such as minimal overshoot,rapid response,and high accuracy,demonstrating its capability to achieve fast and stable control of the inverted pendulum system.
关键词
一级倒立摆/线性二次型控制器/最优控制
Key words
first-order inverted pendulum/linear quadratic controller/optimal control
维普
万方数据