内部モデル同定機構を含む適応サーボ系の多入出力系への拡張と2次元倒立振子への適用

概要

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An adaptive servo control system estimating unknown reference signal models for a linear, time-invariant, multi-inputs multi-outputs plant is given. The models of the reference signals should be included in the control laws as internal models in servo control systems. The servo controller proposed in this paper, includes an on-line estimated model as an internal model. In order to extend the adaptive servo system to multi-variable systems, a simple formulation is required and to simplify the control system, the design is based on coprime factorization of the plant model over the ring of stable proper rational functions. The scheme is applied to the cart position control of a two-dimensional inverted pendulum control system, which has two inputs and two outputs.
香川高等専門学校の論文