倒立摆模拟_Python_下载.zip

# Inverted Pendulum - Control Systems I am writing a simple to understand series on controlling real physical systems. You may access it [here](https://kusemanohar.wordpress.com/tag/control-systems/). ### Inverted Pendulum only System ``` python free_fall_pendulum.py ``` Freefall Inverted Pendulum System  ### Inverted Pendulum and Cart System ``` python free_fall_cart_and_pendulum.py ```  ### Forced Inverted Pendulum and Cart System In this example, the motors on the cart are actuated at fixed time. Thus, they deliver an external force on the system at pre-determined time. ``` python forced_cart_and_pendulum.py ```  ### Control Inverted Pendulum and Cart System In this example, the motors are actuated such that the lineared system becomes stable. The linearization point is pendulum up (or [0,0,-pi/2,0]). See also `anaysis_linearization.py` for analysis of linearized system and its stability. For this we have made used of the python package [control](https://python-control.readthedocs.io/en/0.8.1/generated/control.lqr.html) for the functions `pole_place` and `lqr`. In the future will try and understand how these work and implement these. There were a few subtle things that need to be mathematically correct for this to work. Look at the code to know the exact details. ``` python controlled_cart_and_pendulum.py ```  Here is the system stabilized using Eigenvalues as a result of LQR (Linear Quadratic Regular)