Within the specified time limit, the strategy determines and implements an optimal feed-forward control sequence to the system, swings up the double inverted pendulum from its hanging position, and achieves zero speed state at the upright position.

 
  • 該策略通過(guò)在規定的時(shí)間內向系統施加一前饋控制序列,使上、下擺桿從自然懸垂位置擺到倒立點(diǎn)位置并使速度為零。
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