网络环境下倒立摆控制.pdfVIP

Abstract In order to validate the feasibility and instantaneity of network control methods, to reflect the importance of combining control theories and practical computer network problems. This paper mainly studies the swing-up control and balance control of the inverted pendulum based on the network environment. Firstly, this paper concludes the method to swing-up pendulum is based on energy after comparating and analysising several kinds of the control method to swing-up pendulum, and proposes the method to swing-up pendulum based on energy of the discrete system from the method of the continuous system. Secondly, this paper directly studies the balance control of the inverted pendulum based on the network environment. It considers not only the problem of data packet dropouts but also network noise.To put forward the design of the output feedback controller and H-infinity controller in the discrete network control system based on the two problems. Data packet dropouts and network noise problems are existed in both sensor-to-controller side and controller-to-actuator side, the linear matrix inequality (LMI) is proposed. The sufficient conditions or the existence of the output feedback controller and H-infinity controller are derived in terms of the LMI, so that the closed-loop system is mean square asymptotically stable and guarantee a given H-infinity performance. Finally, the simulation result of a numerical example demonstrates the feasibility, proves the stability of the inverted pendulum and analyses the case under different packet dropout rates and whether there is network noise or not in the inverted pendulum system. Final