环路控制器 LCU?。

Loop Control Unit?

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该方法采用环路成形技术设计倒立摆控制器，对权函数采用遗传算法进行优化。

The controller of inverted pendulum is designed by using the loop shaping technique. GA is adopted to optimize the weighing functions.

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利用SISO系统PI控制器设计方法确定每个环路的最优PI控制器。

Then the PI tuning method of SISO was used to obtain the optimal PI controller for each loop.

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