ループ整形設計手法による低次元制御器の設計

二輪車の安定化制御

抄録

Loop Shaping Design Procedure (LSDP) is one of the most promising H_∞ design procedure. However, LSDP has a weak point such that the so-called central controller has higher order. In this paper, we show that for a single input system which has a structure of mechanical system, there exists a lower order controller by selecting free parameter appropriately and the controller has a structure of functional observer. And we apply our design procedure to the stabilization problem of a two-wheeled vehicle which is a typical unstable mechanical system.