基于倒立摆系统的可拓控制策略研究

Study on extension control strategy of pendulum system

在可拓控制器设计方法的基础上,改进了基本可拓控制器的控制算法．将常规的单输入单输出可拓控制推广到单输入多输出系统,并将可拓控制器应用于旋转式倒立摆系统,以验证它的有效性及控制能力．

The structure and implementation of extension controller are studied based on the design method presented by other authors. The control algorithm of basic extension controller is improved. The ordinary SISO system is extended to SIMO of extension controller. The extension controller has been applied to rotational inverted pendulum system to verify the effectiveness and the control ability of the proposed adaptive extension controller.