基于根轨迹方法的倒立摆系统控制器设计与灵敏度分析

摘要

First of all, we use the inverted pendulum system and the root locus method to design controller, and then we use MATLAB to draw the unit-step response of inverted pendulum control system. On this basis, we further analyze the open loop gain change of eigenvalue sensitivity.%首先结合倒立摆系统，采用根轨迹方法设计控制器，然后利用MATLAB函数绘制倒立摆控制系统的单位阶跃响应，在此基础上，进一步分析开环增益变化对特征根灵敏度的影响。