倒摆的多速率最优调节器设计
Design of Multi-rate Optimal Regulator for an Inverted Pendulum
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摘要:给出一种多速率最优调节器的时不变单速率设计法,采用“提升”技术,把多速率系统的设计问题转变成 了单速率系统的设计问题。采用这种方法对控制界的一个典型问题———倒摆小车的控制问题进行了研究,计算 机仿真结果表明了该方法的有效性。Abstract:A time-invariant, single-rate design approach for multi-rate optimal regulator is presented. The design of a multi-rate system is converted to a single-rate system design problem by using‘lifting’ technique. As an example, a typical problem in the researchof control, the control of an inverted pendulum on a cart is studied. The feasibility of the proposed method is verified by the simulation results.
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Key words:
- optimization/
- algorithms/
- regulators/
- sampling systems/
- multi-rate
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