基于系统内部限制的二级倒立摆控制器

Control design of double inverted pendulum based on intrinsic characteristics of the system

倒立摆装置被公认为自动控制理论中的典型试验设备.通过讨论分析开环系统的不稳定极点和零点给闭环系统带来的超调和下冲等一些必然属性,设计了二级倒立摆的控制器.该控制器能有效的减少系统输出的超调和下冲,并使系统有很好的鲁棒稳定性.实验结果表明该控制器可以对二级倒立摆进行有效的控制,说明了设计方法的有效性.

Double inverted pendulum is well known as a typical instrument for control systems. The authors begin with some intrinsic characteristics of the closed - loop system, e. g. , overshoot and undershoot, on account of open - loop unstable poles and zeros. Then, a controller is designed. It can effectively reduce the overshoot and undershoot of the closed - loop system and in the meantime achieve certain robust stability. Experiment results show the effectiveness of the proposed method and the resulted controller can effectively control the double inverted pendulum system.