中文摘要：

以二级倒立摆系统为例，采用LQR状态反馈与卡尔曼状态估计相结合的方法，通过回路传输恢复LTR技术弥补LQG设计的不足，完成了LQG/LTR全状态反馈控制器的设计，并运用MATLAB语言进行仿真分析，将其仿真结果与LQR控制器进行了对比。结果表明，LQG/LTR控制在二级倒立摆系统中有效地解决了在外界干扰和量测噪声等情况下出现的不稳定问题，且具有较好的鲁棒性。

英文摘要：

LQR state feedback was employed in combination with Calman optimal estimation to design LQG/LTR full state feedback controller for the double inverted pendulum system by using loop transfer recovery （LTR） method to compensate for the deficiency of LQG .MATLAB simulation analysis was then carried out .The simulation results were compared with those of LQR controller ,showing that the LQG/LTR-based system is able to effectively solve the instability problem from external disturbances and measurement noise and has good robustness .