H∞놈과 Pre-filter을 이용한 비선형시스템의 안정화 제어기 설계

• 영문명: Stabilizing Controller Design for Nonlinear Systems Based on the H∞ Norm and Prefilter
• 발행기관: 한국산업기술융합학회(구. 산업기술교육훈련학회)
• 저자명: 서강면(Kang-Myun Seo)
• 간행물 정보: 『산업기술연구논문지』산업기술연구논문지 제26권 4호, 49~56쪽, 전체 8쪽
• 주제분류: 공학 > 산업공학
• 파일형태: PDF
• 발행일자: 2021.12.31

영문 초록

This study analyzes the design of stabilization controllers for nonlinear systems. The proposed method is based on the synthesis control method of the H∞ norm and prefilter, which is a low-pass filter. The low-pass filter is coupled to structure an open-loop transfer function such that sensitivity and complementary sensitivity functions possess desirable frequency characteristics. The H∞ controller, which was designed to validate the proposed controller method, was applied to a representative nonlinear system of an inverted pendulum system, and results were compared with the with that of a PID controller application. Simulation results show that the designed controller well adhered to control objectives while reducing the influence of modeling error and noise.

목차

Ⅰ. 서론

Ⅱ. 도립진자 시스템 모델링 및 제어기 설계

Ⅲ. 시뮬레이션 및 결과 고찰

참고문헌

키워드

도립진자 모델 불확실성 H∞ 놈 프리필터 감도함수 루프 정형 Inverted Pendulum Model Uncertainties H∞ Norm Pre-Filter Sensitivity Function Loop Shaping