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简要地介绍了基于观测器的鲁棒Ｈ∞状态反馈综合方法，并利用这种方法对两级倒立摆平衡控制系统进行了研究，给出了鲁棒控制器并通过仿真的手段对所得的闭环系统进行了分析．结果表明，利用本方法所设计的两级倒立摆平衡控制系统的鲁棒稳定性是令人满意的．
The robust observer-based H∞ state feedback synthesis method is briefly introduced. By using this method, the two-stage inverted pendulum balance control system is studied. The robust controller is given and the resulting closed-loop The system was analyzed. The results show that the robust stability of the two-stage inverted pendulum balance control system designed by this method is satisfactory.