| 三级倒立摆系统的可控性与可观性分析 |
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| 引用本文： | 何彦彦,沈程智.三级倒立摆系统的可控性与可观性分析[J].北京航空航天大学学报,1996,22(5):545-549. |
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| 作者姓名： | 何彦彦 沈程智 |
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| 作者单位： | 北京航空航天大学自动控制系 |
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| 摘 要： | 研究了由单电机控制的三级倒立摆系统的可控性和可观性。通过对单电机控制的三级倒立摆系统建立数学模型，并在平衡位置附近线性化，得到线性数学模型，然后根据可控性和可观性判据，得出该系统完全可控和完全可观的结论。
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| 关 键 词： | 三级倒立摆系统 摆 可控性 可观测性 控制策略 |
TRIPLE INVERTED PENDULUM SYSTEM AND ANALYSIS OF ITS CONTROLLABILITY AND OBSERVABILITY |
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| He Yanyan\ \ Shen Chengzhi.TRIPLE INVERTED PENDULUM SYSTEM AND ANALYSIS OF ITS CONTROLLABILITY AND OBSERVABILITY[J].Journal of Beijing University of Aeronautics and Astronautics,1996,22(5):545-549. |
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| Authors: | He Yanyan\ \ Shen Chengzhi |
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| Abstract: | The controllability and observability of triple inverted pendulum of single motor is discussed.After constructing mathematical model of the system and linearizing around the equilirium state,we obtained the linear mathematical model.According to the theorem of controllability and observability,the system is controllable and observable. |
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| Keywords: | pendulums controllability observability |
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