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Optimal Control Designs for an Inverted Cart-Pendulum Array.

机译：倒立推车摆阵列的最优控制设计。

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摘要

Optimal control design employing LQG methodology for an inverted cart-pendulum array (a non-minimum phase system) is explored. Motivation for the study is the availability of a laboratory hardware setup for implementation and experimentation, including used of analog computers for controllers. The dynamics of the open-loop plant are developed using Lagrangian techniques. The minimum-time optimization problem involving pump-up to an inverted configuration is examined. The optimal regulator problem is solved for several control scenarios, and the use of optional integral states is discussed. Various optimal estimation configurations include optimal estimators as well as simple differentiators. Robustness properties are analyzed for various control configurations. Actual hardware implementation and results are discussed and further study is suggested.

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