走行弾性振り子の終端状態制御

概要

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A new method for final-state control by feedforward input is presented and a simple algorithm to obtain the input is given. It is shown that for closed-loop systems with feedback compensators, a reference input can be used as the feedforward input for final-state control. The proposed method is examined through positioning control of a cart and flexible pendulum system. In order to suppress the vibration of the flexible pendulum, a minimum real H^∞ controller is designed, and feedforward input for the final-state control of this closed-loop system is derived and tested through numerical calculations and experiments. As a result, it is shown that the performance of final-state control and vibration suppression by the feedforward input designed for the closed-loop system is superior to that designed for the open-loop system without a feedback compensator.
一般社団法人日本機械学会の論文
1994-03-25