Robust Control of the Inverted Pendulum

摘要：

The inverted pendulum is a unstable non-minimum phase plant, H∞ output feedback control of the system is far less robust. The difficulties of control of such a plant are analysed from the viewpoint of system’s bandwidth: the bandwidth for control of a non-minimum-phase plant must be narrow, and the control of an unstable plant need a rather wider bandwidth. It is pointed out that a fast feedback loop must be designed first to stabilize the unstable dynamics. Then is the narrow bandwidth loop for the resulting non-minimum-phase but stable plant. Such an approach will give a robust design as illustrated by an example.

关键词： output feedback robust control inverted pendulum

作者: ZHANG Jing XU Lin

作者单位: College of Automatic,Harbin University of Science and Technology,Harbin,150080 China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 781-783

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）