The Analysis and Simulation of First-Order Inverted Pendulum Control System Based on LQR

摘要

Inverted Pendulum is a nonlinear, coupling, variable and naturally unsteady system. In order to control the system, the mathematic model through lag range equation was set up and the LQR Controller was designed in this paper. Last, the author analyzes the control results and obtains superior parameters through simulation. The experimental results show that LQR control is more effective and robust.