重心位置に不確かさを持つ倒立振子のロバスト制御

抄録

In this paper, we consider the robust stabilization control of an inverted pendulum with uncertain position of the center of gravity. For this purpose, using a nonlinear feedback compensator, a simplified model of the inverted pendulum system with structured uncertainty is derived. Then, the quadratic stabilization technique is applied to this model for the design of a robust stabilization controller. Experimental results are also shown to verify the usefulness of the proposed design method.