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本文基于反馈控制和带有控制的Hamilton系统的修正Hamilton函数,研究了车载倒立摆系统的稳定化问题.给出了利用修正Hamilton方法稳定化带有控制的Hamilton系统的一个准则.通过复杂的计算,证明了车载倒立摆系统的不稳定平衡态可以通过增加反馈控制的方式成为渐近稳定的平衡态.利用仿真验证了所给控制的有效性.
In this paper, based on the feedback control and the modified Hamiltonian Hamiltonian system with control, this paper studies the stabilization problem of the car inverted pendulum system, and gives a criterion to stabilize the Hamiltonian system with control by the modified Hamilton method. Through the complicated calculation It is proved that the unstable equilibrium state of the car inverted pendulum system can be asymptotically stable and balanced by increasing the feedback control.The effectiveness of the proposed control is verified by simulation.