PDF全文下载：2011050526
李成利， 牟婷婷
（青岛科技大学 自动化与电子工程学院， 山东 青岛 266042）
摘要: 倒立摆是一种复杂的非线性控制系统，通过其控制结果可以检测控制器的鲁棒性。本研究基于Lyapunov函数设计控制器，使倒立摆处于上平衡状态。证明了控制系统的稳定性。理论分析及仿真实验表明了该控制器对倒立摆控制具有很强的鲁棒性。
关键词: 非线性控制； Lyapunov方法； 倒立摆
中图分类号: TP271文献标志码： A
Stability Control of the Inverted Pendulum Based on Lyapunov Function
LI Cheng-li， MU Ting-ting
(College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266042, China)
Abstract: The inverted pendulum is a complex nonlinear control system. The robustness of controllers can be detected by the control effectiveness of the inverted pendulum. The controller based on Lyapunov function is designed to stabilize the inverted pendulum in this paper. The stability of the system is proved. Theory analysis and simulation experiments show that the designed controller for the inverted pendulum is effective.
Key words: nonlinear control; Lyapunov method; inverted pendulum
收稿日期:2011-06-14
作者简介: 李成利（1957—）,男，副教授
