摘要
旋轉型雙節倒單擺系統為一快速、不穩定之非線性系統，故適用於驗證各種控制理論。旋轉型雙節倒單擺是由二個不同平面的連桿所組成，此系統包括旋轉型雙節倒單擺機構與馬達致動器，本論文先以最小平方差系統識別方法與Euler-Lagrangian方程式分別建立出致動器部分與旋轉型雙節倒單擺機構部分之系統數學模型，並將二者合成系統受控體。其控制目的為由直流馬達驅動旋轉臂帶動單擺作甩上運動與平衡控制，本論文的平衡控制器是使用LQR最佳控制理論來完成，甩上控制器則使用以能量為基礎之控制來完成。藉由MATLAB/Simulink模擬分析，設計旋轉型雙節倒單擺系統之控制器。最後以數位信號處理器為基礎，及利用C語言與組合語言撰寫控制器程式來實現整個控制系統。

Abstract
The rotary double link inverted pendulum system is a highly nonlinear and unstable system, The mechanism of this system is not complicated. Because of this reason, this system provides a platform for verifying the effectiveness of different control schemes. The rotary double link inverted pendulum has three links moving on the different planes. The control system consists of the inverted pendulum mechanism and the DC motror. In this study, the least-squares system identification technique is used to obtain the model of the actuator and the dynamic equations of the rotary double link inverted pendulum is derived by the Euler-Lagrangian formulation. The control objective is to swing up the pendulums from the downward position and to balance the pendulums in the vertical-upright position. The LQR control scheme is used to achieve balancing control, and the swing up controller adopts the energy-based control scheme. MATLAB/Simulink are used for simulation, analysis, and contoller design. Finally, the control law is implemented using a digital signal processor with programs coded in C language and assembly.

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