This paper sets up a mathematical model of triple inverted-pendulum in the first place,and linearize it at the balance point,then control rules are deduced using the quadratic optimal control theory.

• 本文首先建立了直线三级倒立摆的非线性数学模型,然后在平衡点处对其线性化,再利用二次型最优控制理论,导出控制规律。