This paper build a model of hardware in the loop using MATLAB. The linear quadratic optimal control strategy is adopted to design a LQR controller of double inverted pendulum.
本文在MATLAB环境下建立了二级倒立摆的半物理实时仿真模型，并应用线性二次型最优控制策略，设计了一个二级倒立摆l QR控制器。
Based on cascade control strategy and nonlinear auto-disturbance-rejection control (ADRC) method, double loop (position loop and current loop) ADRC was designed for single-pivot levitation system.
双环(位置环和电流环)自抗扰控制器的设计，以单点悬浮系统为研究对象，采用分级控制策略和非线性自抗扰控制方法。
According to this situation, the article presented a control strategy called Double Boundary Loop strategy.
针对这一情况，本文提出了一种双环的制导策略。
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