Stability Analysis of a Neurocontroller with Kalman Estimator for the Inverted Pendulum Case

摘要

In this paper, a practical analysis of stability by simulation for the effect of incorporatinga Kalman estimator in the control loop of the inverted pendulumwith a neurocontroller is presented. The neurocontroller is calculated by approximateoptimal control, without considering the Kalman estimator in theloop following the Theorem of the separation. The results are compared witha time-varying linear controller, which in noiseless conditions in the state orin the measurement has an acceptable performance, but when it is undernoise conditions its operation closes into a state space range more limitedthan the one proposed here.