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应用Ｈ∞状态反馈和Ｋａｌｍａｎ滤波相结合的方法，对二级倒立摆平衡系统进行控制。仿真研究表明：二者相结合构成的控制器，在模型参数摄动且有干扰信号作用的情况下，比ＬＱＧ控制具有更强的鲁棒稳定性和抗干扰能力。
The H∞ state feedback and Kalman filter are combined to control the two-stage inverted pendulum balance system. Simulation results show that the controller, which is a combination of the two, possesses stronger robustness and anti-jamming capability than LQG control under perturbation of the model parameters and interference signals.