中文说明：应用背景倒立摆系统是控制系统中较常见的模型，本代码根据非线性的倒立摆系统模型进行线性建模，线性法通过微分叠加实现，最后采取LQR控制法进行控制，使其系统稳定关键技术倒立摆控制系统线性化后的线性二次调节器LQR（linear quadratic regulator）控制的应用，经运行系统趋于稳定，该系统为单倒立摆，模型为非线性模型，控制时对模型进行线性化
English Description：
Application backgroundThe inverted pendulum system is a common model in control system. The code is linear model based on the nonlinear inverted pendulum system. The linear method is realized by differential superposition. Finally, the LQR control method is adopted to control the system.Key TechnologyLinear (quadratic regulator LQR) control system is used to stabilize the system. The system is stable, the model is a nonlinear model, and the model is linearized.