倒立摆由于自身的特殊性,必须采用有效的控制方法才可以使其稳定,因此倒立摆系统常用于验证控制系统的性能。目前倒立摆中采用LQR控制的较多,但是LQR的抗干扰能力相对较差。为此,提出了采用H_∞理论设计的控制器。仿真结果表明,H_∞控制器具有很强的抗干扰能力,在干扰存在时具有较强的鲁棒性,控制效果很好。 Inverted pendulum because of its own particularity, we must use effective control methods can make it stable, so inverted pendulum system is often used to verify the performance of the control system. At present, LQR control is more in inverted pendulum, but LQR has relatively poor anti-interference ability. For this reason, the controller designed with H_∞ theory is proposed. The simulation results show that the H_∞ controller has strong anti-jamming capability, strong robustness in the presence of interference and good control effect.