基于LMI的倒立摆系统鲁棒H_∞控制器设计

Robust H_∞ Controller Design for Inverted Pendulum System Based on LMI

利用线性矩阵不等式方法设计状态反馈H∞控制器,给出系统具有H∞性能的线性矩阵不等式的条件,并用倒立摆系统实例及其仿真来验证设计方法的有效性和优越性。

In this paper, the state feedback H∞ controller is designed via linear matrix inequality （LMI） approach, A sufficient condition for the given systems with H∞ properties is presented in terms of a certain LMI, an inverted pendulum system and simulation are presented to illustrate the effectiveness and superiority of the design method.