三级倒立摆的非线性部分采用S函数实现，此为S函数实现的源代码-The nonlinear part of the triple inverted pendulum using S functions to achieve, this is the S function, the source code

学校布置的神经网络控制的大作业，控制三级倒立摆的，实验效果非常好！-School layout neural network control of a large operation, control triple inverted pendulum, the experimental results is very good!

Rigid Body Dynamic Triple Pendulum with Springs