The LQR controller uses the pendulum control mode to keep the pendulum near the vertical up unstable state points and gives signals of car displacement tracking.
LQR控制器用于倒立摆的控制模式，保持摆锤稳定在竖直向上不稳定状态点附近，使小车位移跟踪给定信号。
Concrete vertical transportation, eccentricity control of pier top and construction of top hat beam are the difficult points for present project.
混凝土的垂直运输、高桥墩顶偏心控制、帽梁施工是该工程施工的难点。
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