21622 真にプロパな積分近似による状態予測制御を用いたむだ時間を含む倒立振子の制御(運動制御とセンシング,OS.1 実システムのモデリングと制御)

抄録

This paper presents the experimental results for an inverted pendulum with time-delay. The stabilized control system law is constructed with the optimal regulator and distributed-delay control laws. Lumped-delay approximation of distributed-delay control laws gives rise to an unstable closed-loop response. It solves these problems by applying the strictly proper approximations reported by L. Mirkin (2004). It is provided that the inverted pendulum with time delay is stabilized by the distributed-delay control laws with strictly proper approximations in experimental and simulation results.