Sampled-Data Control for Optimal Gain Margin of Cart Inverted Pendulum System: Comparison with Continuous-Time Control

Sananda Chatterjee, Sarit K. Das
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引用次数: 3

Abstract

Seeking to robustly stabilize the cart-inverted-pendulum (CIP) system in the discrete domain, this paper first obtains, via an iterative approach for a sampling rate $T$, the controller that achieves a multiloop gain margin optimization that is analogous to what has been achieved via continuous-domain in [13]. Unlike what may be expected, however, the optimal gain margins obtained are not found to improve monotonically with reduction in $T$. Consequently the optimal $T$ and the corresponding discrete-domain controller that maximizes the gain margin is obtained. The same, moreover, is found to be superior to what the optimal continuous-domain design yields. An explanation for this counter intuitive observation is provided. This has also been verified using physical implementation.
推车倒立摆系统最优增益裕度的采样数据控制:与连续时间控制的比较
为了寻求小车倒立摆(CIP)系统在离散域中的鲁棒稳定,本文首先通过对采样率$T$的迭代方法获得了与文献[13]中通过连续域实现的多环增益余量优化类似的控制器。然而,与预期不同的是,所获得的最优增益边际并没有随着T的减小而单调地提高。从而得到最优的$T$和相应的使增益裕量最大化的离散域控制器。同样的,而且,被发现优于最优连续域设计的结果。对这一反直觉的观察给出了解释。这一点也通过物理实现得到了验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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