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本文介绍了用数字计算机对具有六个状态变量的二节倒立摆进行控制时,三种数字控制器和降维观测器的设计方法。用单板机在实验室中成功地进行了控制表明,这三种设计方法都是实用的。
This article describes the design of three digital controllers and a reduced-dimensional observer when using a digital computer to control two inverted pendulums with six state variables. The successful control of single-board machines in the lab shows that all three design methods are practical.