For the shortage of fuzzy controller, the double model controller was adopted, optimizing fuzzy controller through traditional PID controller.
针对模糊控制算法的不足，建立了双模控制器，用传统的PID算法优化模糊控制器。
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.
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。
Controller structure is chosen and parameters are designed for double-loop controlling system based on the model.
在此基础上，对转速环电流环双环控制系统进行了控制器结构选择与参数设计。
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