倒立摆MATLAB建模（倒立摆matlab建模）.docVIP

倒立摆MATLAB建模（倒立摆matlab建模） MATLAB programming Request for Homework 1 and its implementation results. 2matlab procedures in accordance with the unified class to be submitted for reference. Topic One, Consider the inverted pendulum system as shown in the figure. The inverted pendulum is installed in a small car. Here only the inverted pendulum is considered in the diagram Two-dimensional problems in surface motion. Figure Inverted Pendulum system Assume the parameters of the inverted pendulum system are as follows. The quality of the pendulum rod is m=0.1g The length of the pendulum is 2l=1m The quality of the m=1kg Gravity G=10/S2 Pendulum pole inertia i=0.003kgm2 The quality of the pendulum rod is in the center of the pendulum. The design of a control system allows the maximum overshoot to be %≤10% when given arbitrary initial conditions (caused by interference) The adjusting time Ts≤4s the pendulum back to the vertical position and returns the cart to the reference position ($literal). , 1, the mathematical model of inverted pendulum system is established 2, Analysis system Performance Index--controllability, visibility, stability 3, the design state feedback matrix enables the closed-loop poles to achieve the desired pole The system is designed to have two dominant Poles and two non dominant poles so that you can use a second-order system The analysis method is used to determine the parameters 4, the, is designed by MATLAB to design the pulse response and step response of the system, and the corresponding, is drawn. The time response graph of state variables. Topic Two According to the situation of the subject,, chooses a controlled object to analyze and design the, according to the steps shown in the previous question, and The simulation program and its execution result are given. Topic One, Consider the inverted pendulum system as shown in the figure. The inverted pendulum is installed in a small car. Here only the inverted pendulum is considered in the d