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对倾斜导轨上两级倒立摆的控制问题进行研究，要求设计出的控制器不仅能使摆杆在垂直方向保持稳定，而且能控制小车在导轨上的位置．该问题可简化为极小化某闭环传递函数的Ｈ∞范数，并利用标准Ｈ∞方法进行求解．仿真结果表明，所设计的控制器是令人满意的
The research on the control of two-stage inverted pendulum on the inclined guide rail requires that the designed controller not only keep the pendulum stable in the vertical direction but also control the position of the trolley on the guide rail. This problem can be simplified to minimize the H∞ norm of a closed-loop transfer function and to solve it using the standard H∞ method. The simulation results show that the designed controller is satisfactory