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題名 | Nonlinear H垒Control of the Inverted Pendulum=倒單擺之非線性H垒控制 |
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作 者 | 胡世雄; 楊伯華; | 書刊名 | 中正嶺學報 |
卷期 | 32:2(A) 民93.05 |
頁次 | 頁183-193 |
分類號 | 448.942 |
關鍵詞 | 倒單擺; 非線性H垒控制; 能量耗散; Hamilton-jacobi方程式; Nonlinear H垒control; Energy dissipation; Hamilton-jacobi equation; Inverted pendulum; |
語文 | 英文(English) |
中文摘要 | 本論文提出了求漢米爾頓.傑克比 (Hamilton-Jacobi) 方程式近似解之計算法則,以建構非線性H∞控制器。文中介紹倒單擺系統之非線性及線性H∞控制器求解之方法,並附上閉迴路響應之三統模擬,以比較二者在強健穩定性及強健性能之差異。 |
英文摘要 | In this paper, we present a computational procedure for an approximate solution of the Hamilton- Jacobi equation (HJE) which is employed to construct a nonlinear ∞ H controller for the inverted pendulum system. The closed-loop pendulum responses for both the nonlinear and the linear H∞ controllers will be simulated and the robust stability/performance of the two controllers will also be compared. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。