H_∞ CONTROL BASED SIMULTANEOUS QUASI-OPTIMAL DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS

摘要

In this paper, simultaneous quasi-optimal design of structure/controller for parallel inverted pendulum systems based on H_ ∞ control is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form representation is used to express the dynamics of parallel inverted pendulum systems. A state feedback gain and structural parameters are determined based on a design of H_∞ controller, in which Ricatti inequality in H_∞ control problem is reduced to LMI conditions and minimization problem is solved to obtain quasi-optimal structural parameters. Based oh the obtained structural parameters, experimental work was carried out. Experimental results show the effectiveness of the proposed design method.