Robust Control of the Flywheel Inverted Pendulum System Considering Parameter Uncertainty

摘要

A linear controller for the unstable flywheel inverted pendulum (also known as a reaction wheel inverted pendulum or inertia wheel pendulum) is designed using Quantitative Feedback Theory (QFT) to provide response that stays withing upper and lower bounds in the face of significant variations of the plant parameters. A mathematical model of the plant, including both the mechanics of the pendulum and the electromechanics of the motor, is derived. Simulation is used to compare performance of the QFT controller to that of simple PID compensation. It is shown that while the QFT controller consistently satisfies the robust performance bounds for all plant uncertainty in both frequency and time domains, the PID controller fails to provide robust tracking performance.