Optimization of feedback control parameters of equilibrium point about nonlinear inverted pendulum
非线性倒立摆系统平衡点反馈控制参数的优化计算

Based on circular-rail nonlinear inverted pendulum model,a optimization algorithm of feedback control parameters about equilibrium point is put forward.Control parameters are then programmed and computed.Circular-rail nonlinear inverted pendulum is practically controlled with computed parameters.Compared with feedback parameters of linearized system,large amplitude equilibrium scope can be obtained with this method.Finally,feasibility is indicated by simulation and practical applicetion