Abstract A new constrained complex follow-up system-cup and ball pendulum system was proposed. The new system was modeled by the method of lagrange dynamics. controllability and observability of the system were studied firstly. Two control methods of state feedback controller with pole assignment and LQR optimal control based on genetic algorithm were used to achieve the experiment comparison in this paper. Through the comparative analysis, state feedback controller with pole assignment has better robustness and transient characteristics. And LQR optimal control based on genetic algorithm has better steady-state characteristics and shorter tuning time. Meanwhile, compared with state feedback controller with pole assignment LQR optimal control based on genetic algorithm is more targeted in terms of parameter selection, therefore it is convenient for practical application.
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2020, Vol. 41 
