中文说明：本文的目的是要在移动机器人上倒立摆系统线性二次型控制器设计。这一目标，它必须确定哪种控制策略提供了更好的性能，在摆的角度和机器人的位置。倒立的摆表示一个具有挑战性的控制问题，因为它不断地走向一种失控的状态。LQR 和 LQG 有能力成功完全控制该系统的 MATLAB Simulink 环境中进行了仿真研究。然而，结果表明，LQR 产生更好的反应相比 LQG 战略。
English Description：
The purpose of this paper is to design linear quadratic controller for inverted pendulum system on mobile robot. To achieve this goal, it must determine which control strategy provides better performance in the angle of the pendulum and the position of the robot. An inverted pendulum represents a challenging control problem because it is constantly going out of control. LQR and LQG have the ability to control the system successfully. The simulation is carried out in MATLAB Simulink environment. However, the results show that LQR produces a better response than LQG strategy.