制御された倒立振子の上下振動に対する応答

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タイトル別名
  • Responses of the Controlled Inverted Pendulum to Vertical Oscillations
  • セイギョサレタ トウリツ フリコ ノ ジョウゲ シンドウ ニ タイスル オウトウ

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This paper is an analysis of the investigations regarding the responses of the controlled inverted pendulum to vertical oscillations. First, the inverted pendulum is stabilized by the optimal controller. Next, with theoretical analysis and numerical simulations conjoined with experiments using the large scale vibration exciter, the effect of the vertical vibration on the stability of the inverted pendulum is examined. The results show that the system dynamics is governed by the Mathieu equation. This being so, the frequency response reaches its peak when the frequency of the forced vibration is twice as high as the natural frequency of the controlled inverted pendulum system.

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