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Output feedback control of inverted pendulum: fragility and robustness
Author(s): 
Pages: 221-223
Year: Issue:  3
Journal: ELECTRIC MACHINES AND CONTROL

Keyword:  脆弱性鲁棒性倒立摆H∞输出反馈;
Abstract: 对具有非最小相位的不稳定对象设计了H∞输出反馈控制器,从脆弱性和鲁棒性这两方面对设计结果进行了分析,指出该控制器的极点和传递函数对于控制器系数微小变化的灵敏度并不高,不是脆弱性问题.分析指出这种基于混合灵敏度的H∞设计对未建模动态缺乏鲁棒性,这会导致实际系统不能稳定工作.文中还给出了本例中H∞优化设计缺乏鲁棒性的原因.
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