應用延遲相關穩定性分析於具輸入延遲倒單擺之控制問題

Applying Delay-dependent Stability Criteria to the Control of an Inverted Pendulum with Input Delay

林群弼(Chun-Pi Lin)

指導教授 ： 馮蟻剛

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2005年)

https://doi.org/10.6342/NTU.2005.01386

摘要

本論文中，運用延遲相關穩定性條件，對具輸入延遲倒單擺系統，進行穩定性分析，並且比較各穩定性條件的保守性。其次，透過修正後延遲相關穩定性條件，可以設計狀態回授控制器，穩定此輸入延遲倒單擺系統。最後，加入系統摩擦因素的考量後，以實驗驗證修正過之設計方法確實可行。

關鍵字

時延系統 ； 穩定性 ； 倒單擺 ； 線性矩陣不等式

並列摘要

In this thesis, several delay-dependent stability criteria are used to analyze the stability of an inverted pendulum system with input delay. The conservatism of these stability criteria is discussed.

A delay-dependent stability criterion in terms of linear matrix inequalities is modified to become a state feedback controller design method for stabilizing the inverted pendulum system with input delay. Some constraints are added to restrict the solution set so that the resultant state feedback controller can deal with the friction factor in the system. The experiment results show that the proposed method is effective.

並列關鍵字

time-delay system ； stability ； inverted pendulum ； linear matrix inequality

參考文獻

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