Firstly, the nonlinear model is linearized near the control target to obtain the corresponding state space expression, then the LQR controller is designed for the linear model, and then the controller is used to control the nonlinear inverted pendulum to obtain the data for training the neural network controller, and finally the neural network controller is trained with these data, and finally the (first, second, and third level) inverted pendulum control based on the neural network has achieved good control effects;
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