二级倒立摆的研究已经进行了很长时间,从发表的文献看,采用降阶观测器的模拟控制器的尝试未能取得良好的效果,最终转向采用数字计算机。本文成功地以降阶观测器这样简单的模拟控制器,实现了对二级倒立摆的控制系统受到大的干扰或人为改变实际模型参数时,能非常稳定的工作。 The research on the two-stage inverted pendulum has been going on for a long time. From the published literature, the attempt of the analog controller using the reduced-order observer failed to achieve good results. Finally, the digital computer was used. In this paper, a simple analog controller such as a reduced order observer is successfully used to achieve a very stable operation when the control system of a two-stage inverted pendulum is greatly disturbed or artificially changed the actual model parameters.