目 录
摘 要....................................................................................................................................I
ABSTRACT ..........................................................................................................................II
1 绪论......................................................................................................................................1
1.1 倒立摆的控制方法 ..............................................................................................1
1.2 MATLAB/Simulink 简介....................................................................................1
1.3 主要内容 .................................................................................................................1
2 一级倒立摆 .......................................................................................................................1
2.1 实验设备简介........................................................................................................1
3 直线一级倒立摆的数学模型......................................................................................1
3.1 直线一级倒立摆数学模型的推导 .................................................................1
3.1.1 微分方程模型...................................................................................................1
3.1.2 传递函数模型...................................................................................................1
3.1.3 状态空间数学模型...........................................................................................1
3.2 系统阶跃响应分析 ..............................................................................................1
4 直线一级倒立摆 PID 控制器设计............................................................................1
4.1 PID 控制分析..........................................................................................................1
4.2 PID 控制参数设定及 MATLAB 仿真...........................................................1
5 直线一级倒立摆状态空间极点配置控制器设计 ...............................................1
5.1 状态空间分析 ..............................................................................................1
5.2 极点配置及 MATLAB 仿真 ............................................................................1
6 总结......................................................................................................................................1
