PID控制的一级倒立摆优化控制问题摘要:直线一级倒立摆，是由沿直线导轨运动的小车以及一端固定于小车的匀质长杆组成的非线性的、不稳定的系统。 本文主要介绍了将一阶倒立摆的数学模型加入PID调节来控制它，从而使其成为稳定的系统，并对整个过程进行了matlab仿真和分析。关键字：一级倒立摆 、PID调节控制器、matlab仿真 Abstract：First-order linear inverted pendulum is composed of a trolley, moved along the linear guides, and a homogeneous pole, one end of which is fixed at the car. However, this system is non-linear and unstable. This paper describes the first-order mathematical model of inverted pendulum by adding PID
