文章基本信息

标题：LQR DESIGN METHOD AND LYAPUNOV DIRECT METHOD PROCESS CONTROL SYSTEM "ROTARY INVERTED PENDULUM"
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作者：Marian Popescu ; Adrian Runceanu ; Constantin Cercel 等
期刊名称：Constantin Brancusi University's Annals, Letters and Social Sciences Serie
印刷版ISSN：1844-6051
出版年度：2010
期号：3
出版社：Academica Brancusi Publisher
摘要：This paper will present the implementation of a real process control system “inverted pendulum rotating”. This system has powerful real-time restrictions and also calculated the accuracy of the order must be as large because the system is planning vertical_Up one unstable equilibrium point. Implemented algorithms are based on a reaction after adjusting structure state variables and design was done by the method LQR (Linear Quadratic Regulator) and Lyapunov direct method, thus achieving a comparison between the two methods.
关键词：Lyapunov method; LQR ;method; rotational inverted pendulum