台車型倒立振子制御実験による非因果的周期時変スケーリングに基づくロバスト性能設計の有効性検証

概要

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This paper aims at demonstrating the effectiveness of discrete-time noncausal linear periodically time-varying scaling through control experiments with a cart inverted pendulum whose pendulum length can be set from three different values. We regard the variation in the pendulum length from its middle value as an uncertainty, which leads to a structured uncertainty on the plant model. By applying a robust performance synthesis method based on the above scaling technique to an appropriately constructed generalized plant, we demonstrate that we can successfully design a single linear periodically time-varying controller attaining high control performance regardless of the length of the pendulum.