周波数成形時変評価関数を用いた柔軟構造物の非定常ロバスト制御

Abstract

Abstract In this method, for a robust control to reduce influences of the unstructured uncertainties, low-pass property is given to the controller by using a frequency-shaped type of criterion function. Moreover, an integrated design of both the H 2 control and the H ∞ control is established by applying simultaneously the time-varying property to the criterion function. As an example, a positioning control problem of flexible inverted pendulum is considered. The usefulness of the method is verified by theoretical calculations and experiments.