アクチュエータの飽和を考慮した2自由度制御系設計法

抄録

In this paper we propose a two-degree-of-freedom control system design method in consideration of actuator saturation. We formulate the linear parameter-varying system to design the gain-scheduled servo system considering actuator saturation, and obtain reference signals by final-state control with error learning for the closed-loop system. We demonstrate that the proposed method is useful for a cart and inverted pendulum system.