| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 90 === Abstract
The objective of this research is to simultaneously control the upright standing and standing position of a two-dimensional pendulum-cart system. Except the non-linear and non-minimum phase properties that a single pendulum-cart system has, a two-dimensional pendulum-cart system behaves essentially as an MIMO system with coupling effect between the two subsystems. However it is found that near the standing upright point the coupling is negligible. Based on this property, for each of the two dimensional motions, an integral sliding-mode controller is designed to si-multaneously stabilize the upright standing and control the standing position. The overall system is proven to be robust subject to bounded nonlinearities, coupling, pa-rameter uncertainties and external disturbances. The second design is using an MIMO fuzzy-sliding mode controller to achieve the upright standing and position control. The closed-loop system is shown to be robust and knowledge about the dynamic model of the pendulum-cart system is not required in the design effort. All the pro-posed designs are investigated carefully for the effectiveness and performance with computer simulations and the results are shown.
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