μ Synthesis with Regional Pole Assignment for a Double Inverted Pendulum

被引：0

作者：

Fu Caifen ^{[1
]}

Liu Yuyan ^{[1
]}

Tan Wen ^{[1
]}

Zhang Jinfang ^{[1
]}

机构：

[1] North China Elect Power Univ, Sch Control & Comp Engn, Key Lab Condit Monitoring & Control Power Plant E, Minist Educ, Beijing 102206, Peoples R China

来源：

PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年

关键词：

Inverted pendulum; mu synthesis with; Regional pole assignment; DESIGN; STABILIZATION; PLACEMENT;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control of an inverted pendulum has been a benchmark example in demonstrating and motivating various controller design techniques. This paper makes a study of application of mu synthesis with regional pole assignment for stabilizing a double inverted pendulum system with some parametric uncertainties and designs state-feedback controller by solving a multi-objective controller synthesis problem. The researching results of this paper are applied to the inverted pendulum experiment equipment produced by Googol Technology LTD. Simulation results show that the controller has favorable performance in robustness and disturbance rejection.

引用

页码：1895 / 1900

页数：6

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