Controller Design of Linear Spring-connected Double Inverted Pendulum System

摘要

Inverted Pendulum System is a complicated, nonlinear,unstable system of high order.The stability of that is a typical problem to the application of modern control theory.Modeling by using Lagrange equation is discussed, LQR controller is designed and this physical system is successfully controlled,which not only proves the exactness of modeling,but also plays an important role in Inverted Pendulum Control.It also will be widely applied in Spaceflight Technology and Robots Area.