摘要
利用矩阵特征值一阶摄动理论解释了鲁棒极点配置的原始目标,指出以特征向量广义夹角加权和最大化为目标的一些方法存在认识偏差,并根据控制问题的特点重新规定了适用于评估闭环稳定性的评判数。在MATLAB环境下编制了可直接使用拉格朗日方程的程序,求出了二级倒立摆稳定位置附近局部线性化模型,以该评判数为基础在GIP-300-VPPA-L型倒立摆上实现了对二级倒立摆的稳定控制。建模程序经适应性修改后可用于对任意可用拉格朗日方程描述的系统进行建模。
The concept of robust pole assignment was reexplained using eigenvalue perturbation theory and some misunderstandings were pointed out. A new criterion for measuring the stable margin of state-space closed loop system was given. Then the inverted pendulum was stabilized by the controller, which was selected by the criteria.
出处
《军民两用技术与产品》
2008年第8期37-40,共4页
Dual Use Technologies & Products
