Design of Low Order Controller Using the Loop Shaping Design Procedure. Stabilizing Control of a Two-Wheeled Vehicle.:Stabilizing Control of a Two-Wheeled Vehicle

概要

論文の詳細を見る
Loop Shaping Design Procedure (LSDP) is one of the most promising H∞ design procedure. However, LSDP has a weak point such that the so-called central controller has higher order. In this paper, we show that for a single input system which has a structure of mechanical system, there exists a lower order controller by selecting free parameter appropriately and the controller has a structure of functional observer. And we apply our design procedure to the stabilization problem of a two-wheeled vehicle which is a typical unstable mechanical system.
公益社団法人計測自動制御学会の論文