基于节点约束的球杆系统平衡控制策略研究-计算机工程与应用.PDF

36 2013 ，49 （18） Computer Engineering and Applications 计算机工程与应用 基于节点约束的球杆系统平衡控制策略研究 柳 波 LIU Bo 绵阳师范学院 数学与计算机科学学院，四川 绵阳 621000 School of Math and Computer Science, Mianyang Normal University, Mianyang, Sichuan 621000, China LIU Bo. Study of balance control scheme about ball and beam system based on joint constraint. Computer Engineering and Applications, 2013, 49 （18）：36-40. Abstract ：In this paper, the balance control problem of set-point is studied about the ball and beam system based on the joint constraint. According to the position of the ball, the structure o