摘要
以一级直线倒立摆为模型研究线性二次型指标的最优控制问题,并利用MATLAB强大的运算和仿真能力来设计LQR最优控制器系统。通过调整加权矩阵Q和R,使控制器的系统性能达到最优,并画出系统阶跃响应曲线。仿真结果表明该系统具较好的稳定性和快速性。
Based on single inverted pendulum model to study the line for the linear quadratic index optimal control problem,ana use of MATLAB powerful computing and simulation capabilities to design the optimal controller system conventional LQR. Through adjusting weighted matrix Q and R,make the controller system performance to achieve optimal and draw the system order step response curve.The simulation results show that the system has a good stability and quickness.
出处
《工业控制计算机》
2013年第2期98-99,共2页
Industrial Control Computer
