不确定柔性倒立摆系统鲁棒控制器设计

Abstract

Abstract:

For the uncertainties of the multivariable, nonlinear and strong coupling flexible inverted pendulum system, considering the uncertainty of the system, a robust LQR（Linear Quadratic Regulator）controller was designed for the flexible connecting linear inverted pendulum. The simulation and the experimental results showed that the robustness of the proposed LQR controller is belter than the original LQR controller,and has a better antiinterference ability and stability.

Key words: flexible connecting inverted pendulum, robust linear quadratic regulator（LQR） controller, simulation

CLC Number:

TP13

HAO Zhi-chao |ZHU Ting-huan|LIU Ke-ping. Uncertain Robust Controller Design for Flexible Inverted Pendulum System[J].J4, 2009, 27(06): 634-.

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Uncertain Robust Controller Design for Flexible Inverted Pendulum System

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