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Stabilization Of Inverted Pendulum On Cart Based On Pole Placement and LQR

机译:基于立杆位置和LQR的小车倒立摆稳定性

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An inverted pendulum on cart is an object which is a nonlinear, unstable system, is used as a standard for designing the control methods and finds most versatile application in the field of control theory. To achieve the stabilization of a inverted pendulum system pole placement method is used to design a state feedback controller and then optimal linear quadratic regulator has been applied to the system. The results shown that are the comparison between the performance of two controllers, first the state feedback controller, which is designed by pole placement method and the optimal LQR controller. Both controller stabilizes the inverted pendulum system but deviates in their performance. Simulation has been carried out to show two different approaches for comparative study of their performance.
机译:小车上的倒立摆是一个非线性的,不稳定的系统,它被用作设计控制方法的标准,并在控制理论领域得到了最广泛的应用。为了实现倒立摆系统的稳定性,极点放置方法用于设计状态反馈控制器,然后将最佳线性二次调节器应用于该系统。结果表明,这是两个控制器的性能之间的比较,首先是通过极点放置方法设计的状态反馈控制器和最佳LQR控制器。两个控制器都稳定了倒立摆系统,但性能却有所不同。通过仿真显示了两种不同的性能比较方法。

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