The double inverted pendulum is modeled and the controller is designed by using quadratic optimal control theory to its equilibriumcontrol question.
针对二级倒立摆系统的平衡控制问题，对其进行数学建模，应用二次型最优控制理论设计了控制器。
2
In this paper, the structure and the control mode about the plasma horizontal position equilibriumcontrol system in the HT-6M Tokamak have been analyzed systematically in terms of theory.