带有不确定性因素的三级倒立摆H_∞鲁棒控制器设计

Design of the triple inverted-pendulum H_∞ robust controller with uncertain factors

将三级倒立摆非线性数学模型近似线性化得到被控模型,从被控模型的参数估算和执行机构参数不确定性出发建立标称模型,通过分析不确定性对标称模型的扰动影响,该文设计了一种H_∞鲁棒控制器,仿真实例证明:该控制器具有优良的动态性能和鲁棒性能,可以提高三级倒立摆控制系统的稳定性。

The triple inverted-pendulum nonlinear mathematical model is linearized approximately to obtain the controlled model. From the parameter estimation and mechanism parameter uncertainty of this controlled model, the nominal model is established. In this paper, a H∞ robust controller is designed by analyzing the effect of uncertainty on disturbance of nominal model. The simulated results show that this controller has excellent dynamic performance and robust performance to improve the stability of triple inverted-pendulum controller.