倒立摆实验报告安娟组.docVIP

Research on 1-Stage Inverted Pendulum Controllers By 单海科Shan Haike(09S053011) 刘晓娜Liu Xiaona(09S053026) 安娟An Juan(09S053048) Advised by Prof. Li Jiangang and Huang Ruining Harbin Institute of Technology Shenzheng Graduate School Content Content - 2 - Chapter 1 - 3 - Introduction - 3 - 1.1 Inverted pendulum classification - 3 - 1.2 main characteristics of inverted pendulum - 4 - 1.3 method of controlling the inverted pendulum - 4 - Chapter 2 - 6 - 1-stage inverted pendulum linear model - 6 - 2.1 the mathematical model - 6 - 2.2 the actual model - 8 - 2.3 the performance analysis - 9 - Chapte