| Summary: | 碩士 === 國立屏東科技大學 === 機械工程系 === 91 === This thesis about build a Multirate Feedforward Tracking Control for an Inverted Pendulum. The research work includes comparing with Feedforward Tracking Control. The advantages of the proposed method are (1)the proposed multirate feedforward controller eliminates the notorious unstable zero problem in designing the discrete-time inverse system, (2)the states of the plant match the desired trajectories at every sampling point of reference input, and (3)the feedback characteristics are completely independent of the proposed controller. Next, it is shown that the structure of the Multirate Feedforward Tracking Control for an Inverted Pendulum is very simple and clear. In addition, we performed an optimal parameter design for the an Inverted Pendulum System structure by using the Taguchi Techniques.
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