倒立摆的输出反馈控制:脆弱性和鲁棒性分析  

Output feedback control of inverted pendulum: fragility and robustness

作　　者：王广雄[1] 张静[1] 朱井泉[1] 

机构地区：[1]哈尔滨工业大学,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2002年第3期221-223,共3页Electric Machines and Control

基　　金：国家教委博士点基金项目(96021314)

摘　　要：对具有非最小相位的不稳定对象设计了H∞输出反馈控制器,从脆弱性和鲁棒性这两方面对设计结果进行了分析,指出该控制器的极点和传递函数对于控制器系数微小变化的灵敏度并不高,不是脆弱性问题。分析指出这种基于混合灵敏度的H∞设计对未建模动态缺乏鲁棒性,这会导致实际系统不能稳定工作。文中还给出了本例中H∞优化设计缺乏鲁棒性的原因。A H∞ output feedback controller for a non-minimum-phase unstable plant is designed. Both fragility and robustness of the design are analysed. It is pointed out that the sensitivity of the controller's poles and transfer function against small changes in controller coefficients are relatively low, so it is not a fragile problem. It shows that the mixed sensitivity-base H∞ design is less robust in the presence of unmodeled dynamics, and will be unstable in practical use. The reason for lack of robustness of H??? optimal design in this case is also given.

关 键 词：倒立摆 输出反馈控制 脆弱性 鲁棒性分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] O231[自动化与计算机技术—控制科学与工程]