The rotating pendulum is a typical underactuated system with a rotating shaft of the motor attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum.
旋转摆属于典型的欠驱动系统，通过驱动杆的水平转动可使欠驱动杆由垂直下摆位置转到竖直向上位置。
To demonstrate the effectiveness of the proposed method, an active fault tolerant controller is designed for a double inverted pendulum system with a fault in the motor tachometer loop.
为了验证所提出的主动容错策略的有效性，针对两级倒立摆系统中的电机测速回路故障问题，设计了主动容错控制器。
Computer generates real time control command to drive motor controls displacement and up-down pendulum Angle of hoist, its precise control is realized through this method.
由计算机产生实时控制指令驱动电机控制吊车位移、上下摆角，实现其精度控制。
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