ジャイロを用いた倒立振子の制御

抄録

An inverted pendulum system mounting a gyroscope was reported. The slanted pendulum was brought to be vertical by applying a control force of a gyroscopic moment. The state-space equations were derived to confirm that the system was controllable. The optimal regulator was designed and the region of its optimal poles was determined by simulation. In experiments with state feedback control obtained from those poles, the gyro-pendulum was kept upright more than an hour and half.