振動操作関数による回転型振子の区分サンプル値制御

（振子を倒立平衡点で制御するためのパラメータ設定）

抄録

By using piecewise sampled-data control with rotational vibration manipulation function, we try to control rotational inverted pendulum at inverted equilibrium point. In the case of control by operating time (Δt = 0.1τ) derived from previous research, we found the angular velocity of the arm increases and the centrifugal force components interfered with control. Moreover, the inverted angle has error from the inverted equilibrium point. For improvement, when setting some defiation to the target angle, the inverted angle approaches to π, and the angular velocity of the arm was decreased during the inverted control. We found that we can control the rotational inverted pendulum by setting the deviation angle appropriately in this method.