제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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- Pages.213-218
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- 1991
$H_{\infty}$ 최적제어 이론을 이용한 도립진자의 견실한 보상기 설계에 관한 연구
A Study on the Robust Compensator of An Inverted Pendulum Using $H_{\infty}$ Optimal Control Theory
초록
A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H
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