基于LMI优化的鲁棒控制器设计

摘要

以存在固有模型误差的单级倒立摆为被控对象,建立倒立摆的鲁棒数学模型.在不确定性因子存在的前提下,基于线性矩阵不等式方法计算得到H∞状态反馈控制器参数K,而且给出H∞状态反馈控制器的存在条件.通过实例仿真验证,与LQR控制相比,H∞状态反馈控制具有更好的动态特性和抗干扰特性.%Taking the single inverted pendulum with inherent model error as the controlled object, robust mathematic model of inverted pendulum is established.Under the premise of existence of the uncertainty factors, the parameter K of H∞ state feedback controller is acquired by calculation based on linear matrix inequality method, and the existence condition of the H∞ state feedback controller is given.The simulation verification shows that comparing with the LQR control, H∞ state feedback control has better dynamic and anti-disturbance characteristics.