【導(dǎo)讀】還記得當(dāng)你是個(gè)孩子時(shí)你曾用你的食指或者掌。心設(shè)法去平衡一把掃帚柄或者棒球棍嗎？你必須不斷地調(diào)整你的。手的位置以保持對(duì)象的垂直。一個(gè)倒立擺在本質(zhì)上就是做相同的事。然而，它會(huì)受限制因?yàn)樗荒茉谝欢ǚ秶鷥?nèi)移動(dòng)，雖然你的手?？梢陨仙⑾陆?、斜向一邊等等。檢查錄象提供的畫面來觀察倒立。擺是如何確切地工作的。的）可以在一個(gè)支點(diǎn)周圍振蕩。這個(gè)支點(diǎn)是安在一個(gè)車架上，它的。轉(zhuǎn)動(dòng)方向是水平的偏轉(zhuǎn)。小車是由一個(gè)馬達(dá)控制的，它可以運(yùn)用于。棒子會(huì)有自然的趨勢(shì)從最高的豎直位置下落，那是一個(gè)。不穩(wěn)定的平衡位置。這個(gè)正確的力必須通過計(jì)算測(cè)量水平偏轉(zhuǎn)的瞬時(shí)值和擺的角。已知的，為了尋找一個(gè)控制器去穩(wěn)定住它。就好象掃帚柄，一個(gè)倒立擺是一個(gè)天生的不。力度必須被嚴(yán)格地應(yīng)用以保持系統(tǒng)的完整性。倒立擺在求數(shù)值和各種控制理論的比較中是必要的。盡管它是仿真和實(shí)驗(yàn)來顯示不同控制器的性能（舉。例來說PID控制器，狀態(tài)空間控制器，模糊控制器）。

　　

【正文】 殊 選擇；第二，閉環(huán)響應(yīng)完全不受不確定的特殊種類的影響。后面的恒定性質(zhì)明顯 地使方法論在堅(jiān)固的操縱方法中有一個(gè)適當(dāng)?shù)暮钸x對(duì)象。另外，立即指定性能的 能力使得滑?？刂茝脑O(shè)計(jì)觀點(diǎn)看變得有價(jià)值。 The sliding mode design approach consists of two ponents. The first involves the design of a switching function so that the sliding motion satisfies design specifications. The second is conce rned with the selection of a control law which will make the switching function attractive to the sy stem state. Note that this control law is not necessarily discontinuous. 滑模設(shè)計(jì)處理兩種結(jié)構(gòu)組成。 第一個(gè)包括開關(guān)方程的設(shè)計(jì)所以滑行的動(dòng)作滿 足 設(shè)計(jì)規(guī)范。第二個(gè)涉及到 控制規(guī)則的選擇該規(guī)則將使開關(guān)方程在系統(tǒng)狀態(tài)中 變得有價(jià)值。注意這個(gè)控制規(guī)則并不是必然不連續(xù)的。 We will provide the reader with a thorough grounding in the sliding mode control area and as su ch is appropriate for the graduate with a basic knowledge of classical control theory and some kno wledge of statespace methods. From this basis, more advanced theoretical results are developed. Resulting design procedures are emphasized using Matlab files. Fully worked design examples are an additional tutorial feature. Industrial case studies, which present the results of sliding mode co ntroller implementations, are used to illustrate the successful practical application of the theory. 我們將提供讀者一個(gè)徹底的滑?？刂祁I(lǐng)域的基礎(chǔ)并且適合大學(xué)生使用的經(jīng) 典控制理論和一寫狀態(tài)空間方 法的知識(shí)的基礎(chǔ)知識(shí)。從這些基礎(chǔ)中，許多先進(jìn) 的理論的成果在不斷發(fā)展。因而發(fā)生的設(shè)計(jì)規(guī)程強(qiáng)調(diào)需要用 Matlab 軟件。充分 的處理過的設(shè)計(jì)實(shí)例是一個(gè)額外的性質(zhì)的指示。工業(yè)的案例學(xué)習(xí)，介紹了滑?？? 制執(zhí)行的 成果，被用于闡述成功的實(shí)際的理論上的應(yīng)用。 The “ INVERTED PENDULUM, ANALYSIS, DESIGN AND IMPLEMENTATION” is a collec tion of MATLAB functions and scripts, and SIMULINK models, useful for analyzing Inverted Pe ndulum System and designing Control System for it. This report amp。 MATLABfiles collection are developed as a part of practical assignment on Control System Analysis, Design amp。 Development p ractical problem. The assigned problem of INVERTED PENDULUM is a part of Lab Work of Co ntrol System. “倒立擺、分析、設(shè)計(jì)和執(zhí)行”是由一個(gè) MATLAB 方程和內(nèi)容的收藏的，還有 SIMULINK 模型，對(duì)分析倒立 擺系統(tǒng)和設(shè)計(jì)控制系統(tǒng)是很有用的。這個(gè)報(bào)道 MATLAB 文件收藏是由少量的控制系統(tǒng)分析的實(shí)際任務(wù)而發(fā)展的，設(shè)計(jì)和發(fā)展 實(shí)際問題。這分派 的倒立擺的問題是一個(gè)控制系統(tǒng)的實(shí)驗(yàn)室工作的一部分。 The Inverted Pendulum is one of the most important classical problems of Control Engineering. Broom Balancing (Inverted Pendulum on a cart) is a well known example of nonlinear, unstable c ontrol problem. This problem bees further plicated when a flexible broom, in place of a ri gid broom, is employed. Degree of plexity and difficulty in its control increases with its flexib ility. This problem has been a research interest of control engineers. 倒立擺是最重要最經(jīng)典的控制工程問題中的一個(gè)。帚平衡（車載的倒立擺） 是一個(gè)著名的非線形例子， 不穩(wěn)定的控制問題。這個(gè)問題越來越復(fù)雜當(dāng)一個(gè)柔 韌的帚代替一個(gè)剛硬的帚被使用。復(fù)雜的問題的真實(shí)度和 難度在控制中隨著彈 性而增長。這個(gè)問題已經(jīng)引起調(diào)度工程師的興趣并展開研究。 Control of Inverted Pendulum is a Control Engineering project based on the FLIGHT SIMUL ATION OF ROCKET OR MISSILE DURING THE INITIAL STAGES OF FLIGHT. The AIM O F THIS STUDY is to stabilize the Inverted Pendulum such that the position of the carriage on the t rack is controlled quickly and accurately so that the pendulum is always erected in its inverted pos ition during such movements. 倒立擺的控制是一個(gè)控制工程的方案基于火箭的飛行模擬或者導(dǎo)彈飛行的 初始狀態(tài)。這個(gè)學(xué)習(xí)的目的是 穩(wěn)定倒立擺這樣小車的位置在軌道上被控制得快 速和準(zhǔn)確以使擺在這一裝置下始終垂直在它的倒立位置。 This practical exercise is a presentation of the analysis and practical implementation of the resul ts of the solutions presented in the papers, “ Robust Controller for Nonlinear amp。 Unstable System: I nverted Pendulum” and “ Flexible Broom Balancing” , in which this plex problem was analy zed and a simple yet effective solution was presented. 這個(gè)實(shí)際的運(yùn)動(dòng)是一個(gè)分析的表現(xiàn)還有實(shí)際的執(zhí)行在解決問題的結(jié)果中在 本文中，“非線形和不穩(wěn)定系 統(tǒng)的堅(jiān)固的控制器：倒立擺”和“柔韌的帚平 衡”，其中這個(gè)復(fù)雜問題分析和一個(gè)簡單的有效的解決方案被引出 。