Design of Nonlinear H∞ Output-feedback Controller for an Inverted Pendulum System
碩士 === 國立海洋大學 === 機械與輪機工程學系 === 90 === Inverted pendulum is a classical nonlinear system with non-full information. To construct a nonlinear H∞ controller for th system, it is essential to design a H∞ state estimator and then conbine the estimator with the nonlinear H∞ state-feedback controller. Thi...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2002
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| Online Access: | http://ndltd.ncl.edu.tw/handle/29149438187297490744 |
| Summary: | 碩士 === 國立海洋大學 === 機械與輪機工程學系 === 90 === Inverted pendulum is a classical nonlinear system with non-full information. To construct a nonlinear H∞ controller for th system, it is essential to design a H∞ state estimator and then conbine the estimator with the nonlinear H∞ state-feedback controller. This kind of combination called nonlinear H∞ output-feedback controller. To constract a nonlinear H∞ output-feedback controller, it is essential to find solutions for the Hamiltion-Jacobi equatioins(HJEs). A successive algorithm is employed to find approximate solutions to the HJEs. In this paper, we will try to design a nonlinear H∞ output-feedback controller for the inverted pendulum by approximately solving the HJEs. Simulations of the closed-loop systems for approximation nonlinear H∞、H2 output-feedback controller and linear H∞ output-feedback controller will be performed and compared. It is found that the nonlinear H∞output-feedback controller has better performance in term of smaller deviations from the equilibrium condition. In the end of the paper, we try to combine the nonlinear H∞ state-feedback controller for the inverted pendulum by exactly solving the Hamilton-Jacobi inequality(HJI) with linear H∞ state estimator. The exact nonlinear H∞ state-feedback controller has simper form and much more degree design freedom and the combination of exact nonlinear H∞ state-feedback controller and linear H∞ state estimator has simpler design process and good performance.
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