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Experiment of Double Inverted Pendulum Based on Chaos Optimal Control
基于混沌优化的二级倒立摆最优控制实验

Keywords: Chaos,LQ control,Double inverted pendulum,Performance index,Experiment
混沌
,LQ控制,二级倒立摆,性能指标,实验

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Abstract:

A method of controlling double inverted pendulum was presented in this paper. Chaos optimisation linear quadratic controller based on the dynamic performance index was proposed, in order to solve the choice of weighting matrix problem in LQ control multi-variable. The controller designed by the approach can satisfy the performance index of linear quadratic. The real-time control curves of the double inverted pendulum show that this method not only own characteristics of ctuick speed, but also solve the problem of serious nonlinear and absolutely unstable.

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