目录摘要...............................................................................................31．一阶倒立摆概述.....................................................................41.1 倒立摆起源和中国外进展现实状况..............................41.2 倒立摆系统组成..............................................................51.3 倒立摆分类：..................................................................51.4 倒立摆控制方法：..........................................................51.5 本文讨论内容及安排......................................................61.6 系统内部各相关参数为：..............................................62．一阶倒立摆数学模型建立.....................................................72.1 概述..................................................................................72.2 数学模型建立..................................................................82.3 一阶倒立摆状态空间模型：........................................112.4 实际参数代入：............................................................123．定量、定性分析系统性能...................................................133.1，对系统稳定性进行分析............................................133.2 对系统稳定性进行分析：...........................................154．状态反馈控制器设计...........................................................164.1 反馈控制结构................................................................164.2 单输入极点配置............................................................174.3 利用 MATLAB 编写程序.............................................205．系统仿真讨论，校验和分析...............................................225.1 使用 Matlab 中 SIMULINK 仿真.................................226．设计状态观察器，讨论带有状态观察器状态反馈系统性能。.............................................................................................................266.1 观察器设计思绪：........................................................266...
