| 倒立摆的H∞控制仿真与实验 |
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| 引用本文： | 田晓玲,蔡晨晓.倒立摆的H∞控制仿真与实验[J].舰船电子工程,2009,29(5):101-104. |
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| 作者姓名： | 田晓玲 蔡晨晓 |
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| 作者单位： | 1. 南京美奇科技发展有限公司,南京,210002
2. 南京理工大学自动化学院,南京,210094 |
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| 摘 要： | 建立了一级倒立摆的奇异摄动模型,在此基础上给出了H∞最优控制,与倒立摆一般模型的H∞最优效果进行了仿真比较。同时根据对实际系统调试结果和仿真结果的比对,进一步证明了仿真得到的结论的正确性。并对所得仿真、实验结果进行分析。
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| 关 键 词： | 一级倒立摆 奇异摄动 H∞最优控制 |
H∞ Optimal Control Simulation and Experimental of Inverted Pendulum |
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| Tian Xiaoling,Cai Chenxiao.H∞ Optimal Control Simulation and Experimental of Inverted Pendulum[J].Ship Electronic Engineering,2009,29(5):101-104. |
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| Authors: | Tian Xiaoling Cai Chenxiao |
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| Institution: | Nanjing MEIQI S&T Development Co.;Ltd.1;Institute of Automation;Nanjing University of Science and Technology2 |
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| Abstract: | This paper established the singular perturbation model of inverted pendulum and discusses the H∞ control. The simulation comparison and experimental results are given about the singular perturbation model quadratic control with the general model of inverted pendulum. The analysis has been presented in term of the simulation and experimental results. |
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| Keywords: | single inverted pendulum singular perturbation H∞ optimal control |
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