悬臂式倒立摆H_∞控制设计及仿真

Control Design and Simulation of Cantilever Type Inverted Pendulum

针对旋臂式倒立摆的稳定控制问题,建立了二阶旋臂式倒立摆系统的数学模型,运用连续系统线性鲁棒H∞最优控制理论,通过设计旋臂式倒立摆控制系统的鲁棒调节器,使倒立摆系统在闭环状态下稳定并具有较强的鲁棒稳定性。运用Matlab进行仿真,通过与传统线性二次型最优控制配置方法相比较,结果发现鲁棒H∞最优控制效果更好。

The second-order mathematic model for cantilever type inverted pendulum is built in this paper to sdabilize and control the cantilever type inverted pendulum.With the theory of linear robust optimal control,the systematic linear robust optimal controller is designed for the stability of the pendulum under the closed loop state.The simulation of the robust control was performed by means of Matlab.The final result shows that the robust optimal method is more effective than the traditional linear quadratic optimal control method.