基于matlab的线性二次型最优控制.docVIP

基于MATLAB的线性二次型最优控制 导语：?本文针对单级倒立摆系统采用LQR最优控制方法，通过增加系统自身的扰动和改变LQR控制器中加权阵R和Q，在MATLAB实验环境下对比仿真，得到了良好的控制效果。 Optimal Control for Linear Quadratic Systems Based on MATLAB Zhang Ping College of Automation and Electronic Engineering, Qingdao University of Science Technology, Qingdao, China, 266042 Abstract: In this paper, single-stage inverted pendulum system using LQR optimal control, disturbance by increasing the system itself and the LQR controller, to change the weighting matrix R and Q, comparing simulation results by MATLAB simulation under an exper