The LQR controller uses the pendulum control mode to keep the pendulum near the vertical up unstable state points and gives signals of car displacement tracking.
LQR控制器用于倒立摆的控制模式,保持摆锤稳定在竖直向上不稳定状态点附近,使小车位移跟踪给定信号。
2
Concrete vertical transportation, eccentricity control of pier top and construction of top hat beam are the difficult points for present project.