H∞놈과 Pre-filter을 이용한 비선형시스템의 안정화 제어기 설계
Stabilizing Controller Design for Nonlinear Systems Based on the H∞ Norm and Prefilter
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초록
This study analyzes the design of stabilization controllers for nonlinear systems. The proposed method is based on the synthesis control method of the H∞ norm and prefilter, which is a low-pass filter. The low-pass filter is coupled to structure an open-loop transfer function such that sensitivity and complementary sensitivity functions possess desirable frequency characteristics. The H∞ controller, which was designed to validate the proposed controller method, was applied to a representative nonlinear system of an inverted pendulum system, and results were compared with the with that of a PID controller application. Simulation results show that the designed controller well adhered to control objectives while reducing the influence of modeling error and noise.
Abstract
This study analyzes the design of stabilization controllers for nonlinear systems. The proposed method is based on the synthesis control method of the H∞ norm and prefilter, which is a low-pass filter. The low-pass filter is coupled to structure an open-loop transfer function such that sensitivity and complementary sensitivity functions possess desirable frequency characteristics. The H∞ controller, which was designed to validate the proposed controller method, was applied to a representative nonlinear system of an inverted pendulum system, and results were compared with the with that of a PID controller application. Simulation results show that the designed controller well adhered to control objectives while reducing the influence of modeling error and noise.
참고문헌 (8)
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