中文摘要：

为解决LQ控制多变量系统时，权矩阵参数难以确定的问题，在引入一种与系统动态性能密切相关的性能指标基础上，提出混沌全局粗搜索和局部细搜索相结合优化LQ控制二级倒立摆。该方法既是线性二次型泛函意义下的最优，又能解决具有快速、强非线性、绝对不稳定系统的控制问题。二级倒立摆实验结果证实了该方法的有效性。

英文摘要：

A method of controlling double inverted pendulum is presented. Chaos optimization linear quadratic controller based on the dynamic performance index is proposed,in order to solve the choice of weighting matrix problem in LQ control multi-variable. The controller designed by the approach can satisfy the performance index of linear quadratic. It is also helpful to control the systems which have the characteristics of quick speed,serious nonlinear and absolutely unstable. The real-time control curves of the double inverted pendulum show the effectiveness and practieability of this method.