基于MATLAB的线性二次型最优控制算法及应用研究.docVIP

PAGE PAGE 4 基于MATLAB的线性二次型最优控制算法及应用研究 摘 要 早在上世纪50年代，世界上就出现了对于线性二次型最优控制LQ（Linear Quadratic）的研究。随着对LQ的不断深入研究，如今它已经成为了现代控制理论中最经典的最优控制之一。在各种关于对LQ的研究中，基于状态反馈控制器的研究是最为系统且完整的。而直线一级倒立摆系统作为研究控制理论的一种实验平台，它不但结构简单，价格低廉，而且可以反映出控制中的许多典型问题，从而使它在很多领域都得到了应用。MATLAB作为数字仿真领域中所使用的系统软件的代表，且又具有功能强大的函数库，能使研究者们便捷地实现现代控制理论的目标。 本文针对一阶线性系统，以状态变量和控制输入变量构成的二次型函数为目标函数，研究了线性二次型最优控制算法中的三个主要研究方向，具体为状态调节器问题、输出调节器问题以及跟踪器问题，并分别给出数值算例进行了MATLAB仿真。最后以直线一级倒立摆系统作为具体的例子，研究了如何利用线性二次型最优控制实现倒立摆控制器设计，并给出系统模型及MATLAB仿真波形。 该论文有图14幅，表2个，参考文献32篇。 关键词：线性二次型最优控制 状态调节器 输出调节器 跟踪器 MATLAB 倒立摆系统 PAGE V The Algorithm and Application Research of Linear Quadratic Optimal Control based on MATLAB Abstract In early 1950, there appeared for the research of the linear quadratic optimal control LQ (Linear Quadratic) , with the deepening study of LQ, LQ has now become one of the most classical optimal control of the modern control theory. In many of research on LQ, one of them which based on state feedback controller is the most systematic and complete. And the linear inverted pendulum system as an experimental platform which research the control theory, it not only has the advantages of simple structure, low price, but also can reflect many typical control problem, so it has been applied in many fields.MATLAB, as the representative of the system software used in the field of digital simulation, and has a powerful function library, so it can make the researchers easily achieve the goals of modern control theory. In this paper, for the first-order linear system, the quadratic function formed by the state variable x and the control input variable U is the objective function,and studies three major issues in the linear quadratic optimal control algorithm,which are the state regulator problem, the output regulator problem and tracker problem, and gives the specific numerical examples and simulates these problems by MATLAB. Then this paper studies the application of linear quadratic opt