(元+10)= O=k-mg M5 由此,得单级倒立摆的方程 m(m+Mgl (M+m)/+Mml (M+m)l+ Mml m g l+ml (M+m)+Mml(M+m)l+ Mml 取:x(1)=6单级倒立摆的摆角x(3)=x单级倒立摆的摆速 x(2)=0小车位置 x(4)=x小车速度Mx u H V mg m x l H I Vl Hl = − = − + = = − 0 ( ) 由此,得单级倒立摆的方程: u M m l Mml l m l M m l Mml m gl x u M m l Mml m l M m l Mml m m M gl 2 2 2 2 2 2 2 ( ) ( ) ( ) ( ) ( ) + + + + + + = + + − + + + = 取: 单级倒立摆的摆角 单级倒立摆的摆速 小车位置 小车速度 x(1) = x(2) = x(3) = x x(4) = x