The double inverted pendulum is modeled and the controller is designed by using quadratic optimal control theory to its equilibrium control 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。
In this paper, the structure and the control mode about the plasma horizontal position equilibrium control system in the HT-6M Tokamak have been analyzed systematically in terms of theory.
本文系统地分析了HT—6M托卡马克等离子体水平位移平衡控制的结构和控制方式，提出了相应的数学模型和控制模式，并在HT—6 M托卡马克装置上成功地进行了实验。
In this paper, the structure and the control mode about the plasma horizontal position equilibrium control system in the HT-6M Tokamak have been analyzed systematically in terms of theory.
本文系统地分析了HT—6M托卡马克等离子体水平位移平衡控制的结构和控制方式，提出了相应的数学模型和控制模式，并在HT—6 M托卡马克装置上成功地进行了实验。
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