離散時間 LQ レギュレ-タによる倒立振子の安定化制御 : 特にサンプリング時間依存性について

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/4167
File
Title
離散時間 LQ レギュレ-タによる倒立振子の安定化制御 : 特にサンプリング時間依存性について
Title Alternative
Stabilizing Control of an Inverted Pendulum with a Discrete-Time LQ Regulator : Especially of Sampling Time-Dependence
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 佐伯 博
ヨミ サイキ ヒロシ
別名 Saiki Hiroshi
Subject
Inverted Pendulum
Discrete-Time LQ
Sampling Time
Robustness
Discrete Reccati-Equation
Simulation
Real Time Control
CAD
C-Language.
Abstract

The robust stability of an inverted pendulum with a discrete-time LQ regulator has been discussed especially as a parameter of the controller sampling time Ts. All the programs necessary for the design of stabilizing the system, including the programs concerning the non-negative solution of the discrete algebraic Riccati-equation by Arimoto and Potter's method, the eigen value solutions by the WQR method, the simulation estimation and its corresponding real time implementation etc, are developed using the C-language, and also arranged so as to make the sequential file operation possible as a CAD type implementetion. As is anticipated, the more remarkable robustness against both constant and spontaneous disturbances can be seen in the real system with lower Ts (=0.5[mses]).

Journal Title
広島工業大学研究紀要
Volume
26
Spage
67
Epage
79
Published Date
1992
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima