マルチレート状態オブザーバによる倒立振子の安定化制御の実験的検証

概要

論文の詳細を見る
In this paper, we describe about application results of multirate digital state observer to stabilizing control of inverted pendulum. Generally, using the conventional digital control method, if there is a control variable that needs longer time duration for the detection in the digital control system, sampling period of the others variables and control period depend on its period, that causes degradation of control performances. Hence, responses of regulator with a multirate digital state observer are compared with ones with a conventional identity observer through our experiments. As a result, it is clarified that the digital control system using multirate digital state observer is superior to conventional control system for the multirate sampling environment.
東海大学の論文