基于 MATLAB （矩阵实验室 )地倒立摆控制系统仿真摘要自动控制原理（包括经典部分和现代部分）是电气信息工程学院学生地一门必修专业基础课，课程中地一些概念相对比较抽象，如系统地稳定性、可控性、收敛速度和抗干扰能力等.倒立摆系统是一个典型地非线性、强耦合、多变量和不稳定系统，作为控制系统地被控对象，它是一个理想地教案实验设备，许多抽象地控制概念都可以通过倒立摆直观地表现出来.本文以一级倒立摆为被控对象，用经典控制理论设计控制器（PID 控制器）地设计方法和用现代控制理论设计控制器（极点配置）地设计方法，通过MATLAB 仿真软件地方法来实现.关键词：一级倒立摆PID 控制器极点配置Inverted pendulum controlling systemsimulation based on the MATLABABSTRACTAutomatic control theory (including classical parts and modern parts) is a compulsory specialized fundamental course of the students majored in electrical engineering. Some of the curriculum concept is relatively abstract, such as the stability, controllability, convergence rate and the anti-interference abilityof system. Inverted pendulum system is a typical nonlinear, strong coupling, multivariable and unstable system. It is an ideal teaching experimental equipment as acontrolled object, by which many abstract control concepts can be came out directly. This paper chose first-order inverted pendulum as the controlled object. First, the PID controller was designed with classical control theory. Then pole-assignment method was discussed with modern control theory.At last, the effectness of the two methods was verified by MATLAB simulationsoftware.KEY WORDS: First-order inverted pendulum PID controller pole-assignment目录摘要 IABSTRACTII1 绪论 11.1 倒立摆地控制方法11.2 MA TLAB/Simulink简介 21.3 主要内容 32 一级倒立摆32.1 实验设备简介33 直线一级倒立摆地数学模型43.1 直线一级倒立摆数学模型地推导43.1.1 微分方程模型63.1.2 传递函数模型63.1.3 状态空间数学模型73.2 系统阶跃响应分析104 直线一级倒立摆...
