抄録
In this paper, for stabilizing and positioning control of a cart and inverted flexible pendulum system we formulate H∞ servo compensator where displacement signals are used as the controlled variables and the cart velocity is used as feedback loop signal into the compensator. The feedback loop of the cart velocity which is excepted from the controlled variables is added through the loop gain to the feedback loop of the controlled variables in the design of the H∞ servo compensator. By numerical calculations and experiments, we investigate the settling characteristics and the robust stability against a disturbance to the pendulum with two kinds of controllers, the output feedback controller by the displacement feedback and the output feedback controller adding the cart velocity feedback loop to the compensator. It is shown that although the displacement-output feedback controller without the cart velocity feedback loop has a big overshoot in the step response and the positioning of the cart is difficult, by means of the displacement-output feedback controller with a cart velocity feedback loop the overshoot can be reduced and stable positioning control of the cart is possible. Also it is verified that the servo compensator is superior to the regulator-based compensator in the settling characteristics.
