通过动力学分析，建立了车型弹性倒立摆系统的动力学控制模型，并对系统进行了线性化和可控、可观性分析。
Its dynamic control mode of vehicle tyre is derived by dynamics analysis, and the linearization, controllability and observability of the system are analyzed.
本文在MATLAB环境下建立了二级倒立摆的半物理实时仿真模型，并应用线性二次型最优控制策略，设计了一个二级倒立摆l QR控制器。
This paper build a model of hardware in the loop using MATLAB. The linear quadratic optimal control strategy is adopted to design a LQR controller of double inverted pendulum.
基于一级倒立摆系统线性模型的不确定性，建立了灰色预测模型。
Based on the uncertainty of linear model for single - inversed pendulum, a gray prediction model is built up.
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