扭矩除以转动惯量,就会引起角加速度，也就是角速度的导数。
Torque divided by moment of inertia is what will cause the angular acceleration, namely the derivative of angular velocity.
控制目标是移动式倒立摆在二维平面内按指定的移动速度和转动角速度运动，并且保持摆杆平衡；
The purpose is to make the mobile inverted pendulum move at the reference translational speed and rotational speed in the two-dimensional plane while keeping its link being balanced.
分析结果表明，在传统力学模型中，当转动角速度小于弹性梁的基频时，系统稳定；反之，系统将失稳。
The results show that the system will lose stability when the rotating angular velocity is greater than its fundamental frequency in classical dynamical model.
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