回旋式倒立摆的H∞控制OACSTPCD

Inverted pendulum system has the characteristics of multivariability,nonlinearity,strong coupling,and uncertainty,and the system is commonly used to verify the advantages and disadvantages of control algo-rithms.H∞ has outstanding performance in interference suppression and robustness.After a brief introduction of the research on the control of the inverted pendulum and the development of the H∞ control theory,the H∞control of the first-order cyclotron inverted pendulum is studied.Firstly,the dynamics of the first-order inverted pendulum is analyzed based on the Lagrange equation,and the linear equation near the balance point is ap-proximately obtained.By analyzing the inverted pendulum system,it is concluded that the inverted pendulum system is an observable and controllable system,but the equilibrium point is unstable.Then,a brief introduc-tion is given to the solution method of the H∞ controller based on the Riccati equation,and it is proven that the controller can ensure the stability of the system.Finally,the impact of the elements of the weighting matrix and the size of the H∞ performance index on system performance and the requirements for engine torque are determined through simulation,and a set of relatively suitable parameters are ultimately determined for control-ler design..