The uniform-velocity-walking LQR controller research and design for linear inverted pendulum system

The problem about the control of the self-balancing mechanical system's uniform motion has great research value and strong reality application background, and the inverted pendulum has become the typical experiment equipment for the analysis and design of the control theory because of its nonlinearity. In allusion to the problem about the uniform motion of the linear inverted pendulum system, we set up the mathematical model first, next we put up the modules of the system one by one in the Matlab/Silumink environment and compiled lots of functions which are related to the hardware communication and so on, then we designed the LQR controller adopting the optimum control theory by using linear quadratic form and realized the control of the linear single or double inverted pendulum system's uniform motion both in simulation and physical environment, during which controller shown good anti-jamming capability for external disturbance.