適応補償器による多入出力系の外乱除去制御と倒立振子制御への適用 [in Japanese] Disturbance Cancellation in Multivariable Systems Using an Adaptive Compensator and its Application to an Inverted Pendulum Control [in Japanese]
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A design scheme for an adaptive compensator to cancel the effects of unkonwn disturbances on outputs in linear, time-invariant, multi-input multi-output control systems is given. The design scheme is derived by coprime factorization approach. The adaptive compensator proposed in this paper cancels the effects of disturbances by identifying the disturbance model. The scheme is applied to an inverted pendulum control system, which has one input and two outputs.
- Transactions of the Japan Society of Mechanical Engineers. Series C.
Transactions of the Japan Society of Mechanical Engineers. Series C. 00065(00633), 1841-1848, 1999-05
The Japan Society of Mechanical Engineers