不确定柔性倒立摆系统鲁棒控制器设计

Uncertain Robust Controller Design for Flexible Inverted Pendulum System

针对多变量、非线性、强耦合的柔性倒立摆系统的不确定性,设计了鲁棒LQR(Linear Quadratic Regu-lator)控制器,并在柔性连接倒立摆上进行了仿真实验。实验结果表明,该鲁棒LQR控制器比原有的LQR控制器具有更好的抗干扰能力和稳定性。

For the uncertainties of the multi-variable, nonlinear and strong coupling flexible inverted pendulum system, considering the uncertainty of the system, a robust LQR （Linear Quadratic Regulator） controller was designed for the flexible connecting linear inverted pendulum. The simulation and the experimental results showed that the robustness of the proposed LQR controller is beher than the original LQR controller, and has a better anti-interference ability and stability.