本文介绍了控制系统中的经典问题— — —倒立摆及其基本原理,

简要介绍了 Ma tlab中倒立摆控制的实现方法。由于倒立摆的研究具

有重要的工程背景,本文结合了二级倒立摆的 ma tlab仿真,实现二自

由度机器人 PD控制的 ma tlab仿真 ,取得了较好的效果。-This article describes the classic problem of the control system--- inverted pendulum and its basic principles, a brief introduction Ma tlab the inverted pendulum control method. The inverted pendulum has important engineering background, this paper combines the ma tlab double inverted pendulum simulation, to achieve two degrees of freedom robot ma tlab PD control simulation, and achieved good results.