基于H_∞控制的倒摆平衡系统鲁棒性研究

The Study of Inverse Pendulum Balance System Robustness Based on H_∞ Control

根据H∞鲁棒控制的特点，针对参数摄动及干扰的问题，对倒立摆平衡系统进行控制。仿真研究表明：用H∞控制理论设计的控制器对其进行控制，在模型参数摄动及干扰信号作用的情况下，具有很强的鲁棒稳定性和抗干扰能力。

In this paper,the inverse pendulum balance system is controlled in accordance with H ∞ Robustness control's feature and the parameter variety and disturbance. The simulation result shows that this controller which is designed in accordance with the H ∞ control theory has a strong Rubustness and performance optimization under the parameter variety and disturbance.