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首页> 外文期刊>International review of automatic control >Control System for Double Inverted Pendulum on a Cart by H-Infinity Controller
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Control System for Double Inverted Pendulum on a Cart by H-Infinity Controller

机译：H-Infinity控制器控制小车双倒立摆控制系统

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摘要

This paper describes a control system for Double Inverted pendulum on a cart (DIVP) which is mechanically unstable in the upright position. Actually, this system is a nonlinear system and under-actuated mechanical system. H-infinity control system is one of the robust control systems, which are guaranteed to make the system stable with good robustness and performance as well. Actually, the DIVP model has some uncertainty parameters, which occur during fabrication that can make problems for the control system. Therefore, H-infinity control system is one of the good methods to solve this problem. The mixed weight H-infinity controller can be found from MATLAB. Then, this controller is applied in LABVIEW to control the DIVP model. The simulation result shows that controlling the DIVP model on LABVIEW by H-infinity controller can make the DIVP system stable at the upright position, even when the system is subjected to external disturbance.
机译：本文介绍了一种用于推车上的双倒立摆（DIVP）的控制系统，该系统在垂直位置机械不稳定。实际上，该系统是非线性系统和欠驱动机械系统。 H-infinity控制系统是一种鲁棒的控制系统，它保证了系统的稳定性以及良好的鲁棒性和性能。实际上，DIVP模型具有一些不确定性参数，这些参数会在制造过程中出现，从而给控制系统带来麻烦。因此，H-无穷大控制系统是解决这一问题的好方法之一。混合权重H无限控制器可从MATLAB中找到。然后，将该控制器应用于LABVIEW中以控制DIVP模型。仿真结果表明，即使系统受到外部干扰，通过H-infinity控制器在LABVIEW上控制DIVP模型也可以使DIVP系统稳定在直立位置。

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