基于H_∞鲁棒控制的单级倒立摆控制器设计  

Design of Single Inverted Pendulum Controller Based on H_∞ Robust Control

作　　者：董杰[1] 王雷[1] 

机构地区：[1]中国人民解放军92785部队

出　　处：《工业控制计算机》2013年第3期38-39,共2页Industrial Control Computer

摘　　要：以存在建模误差和干扰输入的非线性单级倒立摆为研究对象,建立了被控数学模型。在不确定性干扰因子影响下,利用基于Riccati方程的H∞控制分析研究了摆角和台车位置控制原理,设计了H∞鲁棒控制器。最后的实例仿真验证了在单级倒立摆系统上,H∞鲁棒控制较PID控制相比,具有优异的动态性能和稳定性能。The nonlinear single inverted pendulum with modeling error and disturbance input is studied to establish the controlled mathematical model.With the uncertainty factors＇ influence.H∞ control based on the Riccati equation is used to analysis and research the control principle of the pendulum angle and cart＇s position,robust controller is designed in this paper.Finally, comparing with the PID control,the H∞ robust control has better dynamic and steady performance,and which is verified by the example simulation.

关 键 词：倒立摆 鲁棒控制 动态性能 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]