三级倒立摆的LQR方法优化参数控制
陈 健,张持健
Control of triple inverted pendulum based on LQR coefficients optimization
CHEN Jian,ZHANG Chi-jian
计算机工程与应用 . 2009, (29): 245 -248 .  DOI: 10.3778/j.issn.1002-8331.2009.29.073