线性二次型最优控制器设计 摘要
由于顺摆控制可以反映控制方法对高阶次、不稳定、非线性、强耦合系统的控制能力，所以很多控制方法的验证都是通过对顺摆控制来实现的。同时，顺摆广泛应用于控制理论研究、航空航天控制、机器人、杂技顶杆表演等领域，在自动化领域中也具有重要的价值。直线顺摆的摆杆在没有外力作用下，会保持静止下垂的状态，当受到外力作用后，摆杆的运动状态(Because of CIS pendulum control can reflect the control method of high order, unstable, nonlinear, strong ability to control the coupling system, so the validation of many control methods are based on CIS pendulum control to achieve.At the same time, CIS pendulum is widely used in control theory, aerospace control, robot, push rod acrobatic performances and other fields, but also has important value in the field of automation.)