期刊刊名：崑山科技大學學報 　 卷期：9期

篇名出版日期：2012年6月1日

作者：李振興,吳明芳,王炳聰,Jen-Hsing Li,Ming-Fang Wu,Ping-Tsung Wang

語言：English

關鍵字：H∞ state feedback, Disturbance rejection, Pendubot, Digital signal processor,H∞ 狀態回授,去除干擾,平面式倒單擺,數位信號處理器

被點閱次數：2次

閱讀時間：624sec

摘要：
The disturbance rejection control of the DSP(Digital Signal Processor)-based pendubot is investigated in this paper. The H∞ control method is utilized to reject disturbances and maintain the robust stability. There are two equilibrium positions of the pendubot, one is the middle position and the other is the top position. Both of these equilibrium positions are derived and designed. The pendubot is a kind of the inverted pendulums and an original nonlinear unstable system. The appropriate controls are necessary to maintain the robust stability. The pendubot is also an excellent educational tool and impresses students. The balancing control law used in this paper is the H∞ state feedback controller. From the experimental results, the H∞ controller is guaranteed to reject disturbances and maintain robust stability of the pendubot.

　　　　　[全文下載]