旋转式倒立摆线性二次型调节器与滑模控制的比较分析

2018 International Conference on Recent Trends in Electrical, Control and Communication (RTECC) Pub Date : 2018-03-01 DOI:10.1109/RTECC.2018.8625648

Krishanu Nath, L. Dewan

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引用次数: 1

摘要

由于噪声注入和参数变化，不确定性是实时系统固有的一部分。大多数设计考虑使用线性时不变模型来设计控制器，因为它们易于设计过程。本文针对旋转倒立摆设计了线性二次型调节器和滑模控制。然后对控制器进行非线性模型测试。在参数变化和噪声存在的情况下，比较了两种控制器的性能。

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A comparative analysis of linear quadratic regulator and sliding mode control for a rotary inverted pendulum

Uncertainties are inherently part of real time systems due to noise injection and parameter variations. Most design considerations use linear time invariant model for design of controllers as they serve easy design procedures. In this paper linear quadratic regulator and sliding mode control is designed for a rotary inverted pendulum. The controllers are then tested on to the nonlinear model. Performance of both the controllers is compared in the presence for parameter variation and noise. .

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2018 International Conference on Recent Trends in Electrical, Control and Communication (RTECC)

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