ループ整形重みの最適化と補間に基づくゲインスケジューリング制御

奥原 一紀; 弓場井 一裕; 平井 淳之

doi:10.11511/jacc.48.0.198.0

48th Proceedings of the Japan Joint Automatic Control Conference

Session ID : H2-31

DOI https://doi.org/10.11511/jacc.48.0.198.0

Conference information

Host: The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Japan Society of Mechanical Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

Gain-scheduling Control based on Optimization and Interpolation of Weighting Function of Loop Shaping Design Procedure

*Kazunori Okuhara, Kazuhiro Yubai, Junji Hirai

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Keywords: Gain-scheduling, Loop Shaping Design Procedure, Robust stability margin, Weighting function

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

Gain-scheduling control is one of effective methods for plants whose dynamics change significantly according to change of operating point.In this paper,we design an optimal weighting function and a controller by the use of algorithm maximizing the robust stability margin at each operating point.Moreover,we realize robust and high performance control by gain-scheduling them.The effectiveness is shown by a rotary inverted pendulum which involves strong nonlinearity.

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