Robust control of inverted pendulum using quantitative feedback theory

• Main Authors: Wang-Chiang Chen, 陳王強
• Other Authors: 劉倫偉
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/44464200373013859586

碩士 === 國立臺灣海洋大學 === 機械與輪機工程學系 === 92 === In this paper, a state feedback controller was used to stabilize an inverted pendulum system. Next, a controller based on QFT (Qualitative Feedback Theory) was added to achieve robustness requirement. The resulting closed-loop system satisfies the stability and the performance requirements under specified parameter uncertainties. Both simulations and experiments were conducted to verify the feasibility of the controller design. Finally, a modified QFT method was used to design a robust controller for a non-minimal phase and unstable system without first stabilizing it.