倒摆的多速率最优调节器设计

Design of Multi-rate Optimal Regulator for an Inverted Pendulum

给出一种多速率最优调节器的时不变单速率设计法 ,采用“提升”技术 ,把多速率系统的设计问题转变成了单速率系统的设计问题。采用这种方法对控制界的一个典型问题———倒摆小车的控制问题进行了研究 。

A time invariant, single rate design approach for multi rate optimal regulator is presented. The design of a multi rate system is converted to a single rate system design problem by using 'lifting' technique. As an example, a typical problem in the research of control, the control of an inverted pendulum on a cart is studied. The feasibility of the proposed method is verified by the simulation results.