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《Journal of Nantong University(Natural Science Edition)》 2013-04
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Study on the Inverted Pendulum Control System Based on H_∞ Theory

CHANG Long-hong;Department of Mechatronic Engineering,Ta Hwa University of Science and Technology;  
This paper using the loop shaping design procedure(LSDP) of H∞ theory,attempted to design the inverted pendulum controller.Moreover the Tustin friction model and a disturbance observer(DOB) were used to compensate the friction and disturbance between the pendulum cart and rail.Meanwhile,the stability and performance of the inverted pendulum robust were observed.The result presents that the performance of the compensated system is better than the uncompensated system.
【Fund】: 大华科技大学经费补助项目(TH-101-专研-ME-11)
【CateGory Index】: TP13
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