一般化正準変換を用いた安定化法のロバスト性に関する考察

二輪車両系の実験と解析

抄録

This paper studies the robustness analysis of feedback systems for two-wheeled vehicle systems which are designed based on generalized canonical transformations. Firstly the relation between the design parameter in the stabilization procedure and the sensitivity against external disturbances is discussed. Secondly a sufficient condition for the robust stability against unknown physical parameter variations is derived. Finally the effectiveness of our method is demonstrated by experiments.