单级倒立摆LQR控制仿真

资 源 简 介

单级倒立摆LQR控制仿真 降维状态观测器的两种设计方法及算例

详 情 说 明

In this document, we will discuss two design methods for reduced-order state observers in the context of single inverted pendulum LQR control simulation. By utilizing these methods, we are able to obtain more accurate observations of the state of the pendulum, which in turn allows for more precise control.

The first method involves the use of a linear observer, which is a simple yet effective approach to state estimation. We will provide a detailed explanation of how this approach works and how it can be implemented in the context of our simulation.

The second method we will cover is the nonlinear observer, which is a more complex approach that takes into account the nonlinearities of the system. While this method is more challenging to implement, it can provide even more accurate observations of the state of the pendulum.

To illustrate the effectiveness of these methods, we will provide a numerical example of each approach. By comparing the results of these simulations, we can gain a better understanding of the strengths and weaknesses of each method. Overall, this document aims to provide a comprehensive overview of reduced-order state observers in the context of single inverted pendulum LQR control simulation.