基于H_理论的旋转式倒立摆控制研究
he Control And Research Of Single-Rotational Inverted Pendulum Based On H-infinity Theory
本文介绍了单级旋转式倒立摆系统的数学模型，并根据数学模型在Matlab环境下设计了H_状态反馈控制器。通过仿真发现，H_状态反馈控制器的控制效果要优于最优控制策略LQR控制器。
he mathematic model of Single-Rotational Inverted Pendulum(RIP) is presented in this paper. H-infinity state-feedback Controller for RIP are created.The result of simulation based on Matlab shows that the H-infinity state-feedback Controller is superior to the LQR Controller.
赵金峰、刘学、鲁凯生、袁裕鹏
自动化基础理论自动化技术、自动化技术设备
旋转式倒立摆H_控制状态反馈鲁棒性
Rotational Inverted PendulumH-infinity controlstate feedbackrobustness
赵金峰,刘学,鲁凯生,袁裕鹏.基于H_理论的旋转式倒立摆控制研究[EB/OL].(2008-04-23)[2025-08-10].http://www.paper.edu.cn/releasepaper/content/200804-847.点此复制
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