抄録
This paper proposes a design algorithm of dual-PI controller for achieving stabilization control of a rotaty-type inverted pendulum robot. First, we show a decision technique of the PI gains in a sequential increase-decrease method, in which this system is considered in continuous-time control scheme. Next, by discretizing only the dual-PI controllers except the controlled object, we examine sampled-data control, in which the first PI controller satisfies 200ms-sampling time and the other is set to be 2ms. Finally, we reveal the successful stable behavior of the robot even in such slow sampling time.
