極配置法に基づいたゲインスケジューリングによる回転型倒立振子の安定化制御

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  • Stabilization Control of a Rotational Inverted Pendulum Using a Gain Scheduled Method Based on Pole-Assignment
  • キョク ハイチホウ ニ モトヅイタ ゲインスケジューリング ニ ヨル カイテンガタ トウリツ フリコ ノ アンテイカ セイギョ

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抄録

A nonlinear control scheme for an inverted pendulum system which has a pivot rotating in the vertical plane is proposed. The state equation which includes the parameter of the rotation anegle of the arm in the system and input matrices is derived in order to express the nonlinearity of the system. The nonlinear controller is designed using a gain scheduled method based on a pole-assignment scheme. The effectiveness of the proposed control scheme is experimentally demonstrated and discussed. Then, it is clarified that on unstable phenomenon occur at the particular rotation angle of the arm, and is theoretically discussed by a modal analysis.

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