実験結果に基づく最適レギュレータの設計法

抄録

This paper gives an LQ optimal controller design method which is based on the iteration of experiment and controller re-design from the viewpoint of joint design of identification and control. This method provides us a systematic method of changing the weighting matrices to achieve better control performance based on the experimental data. Furthermore, the effectiveness of the proposed method is shown by experiments using an inverted pendulum system.