single linkˈsiŋɡlliŋk短语⁶¹⁸⁹¹ 基本例句 单段链路 This paper derives the mathematical model for system of single link rotary inverted pendulum from Lagrange Equation, and through this model the rotary inverted pendulum is swung up by energy methods. 本文通过拉格朗日方程推导出环形一级倒立摆系统的数学模型，用能量方法对该模型进行摆起控制； cnki