倒立摆实时控制的比较研究

2011 Frontiers of Information Technology Pub Date : 2011-12-19 DOI:10.1109/FIT.2011.41

M. Hamza, Zaka-ur-Rehman, Qamar Zahid, F. Tahir, Zulfiqar Khalid

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引用次数: 9

摘要

本文研究了倒立摆的实时控制问题。我们设计并实现了四种不同的控制算法，即PID、极点放置、LQR和模糊逻辑。将这些控制器实时应用于倒立摆，并从倒立摆调节、抗扰和控制能量指标等方面对其性能进行了比较。我们还提供了基于ISE指数的性能比较。

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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Real-Time Control of an Inverted Pendulum: A Comparative Study

In this paper, we consider the problem of real-time control of an Inverted Pendulum. We design and implement four different control algorithms, namely PID, Pole placement, LQR and Fuzzy Logic. These controllers are applied to the Inverted Pendulum in real-time and their performance is compared on the basis of Pendulum regulation, disturbance rejection and control energy specifications. We also provide a performance comparison based on the ISE index.

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2011 Frontiers of Information Technology

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