论文标题
将线性控制器方案扩展到非线性系统及其在倒摆上的应用
Extension of a Linear Controller Scheme to Non-Linear Systems and its Application on Inverted Pendulum
论文作者
论文摘要
本文介绍了基于通用控制器方案的旋转倒摆的控制和稳定。所提出的计划在古典控制理论中奠定了基础，并且强调了整合器在干扰拒绝中的重要性。系统的动力学是通过Euler Lagrange方法获得的，并且对于小角度而言，由于平衡摆是目标。实验结果表明，提出的控制方案可以实现非线性系统的稳定化。同样，验证了非线性系统与受初始条件的控制器的界限和收敛性。
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance rejection is emphasized. The system's dynamics are obtained by the Euler Lagrange method and are approximated for small-angle as balancing the pendulum is the objective. Experimental results demonstrate that the proposed control scheme can achieve the stabilization of a non-linear system. Also, the boundedness and convergence of the non-linear system with the controller subjected to the initial condition are validated.
