COMBINED NONLINEAR CONTROL OF A SYSTEM OF INVERTED PENDULUMS WITH INPUT CONSTRAINTS
E. L. Eremin1, L. V. Nikiforova1, E. A. Shelenok2
1Amur State University, Blagoveshchensk, Russia
2Pacific National University, Khabarovsk, Russia
Keywords: combined regulator, a priory uncertainty, mechanical system, hyperstability criterion, L-dissipativity, filter-corrector, implicit reference model
Abstract
Using the hyperstability criterion, fast-acting filters-correctors, and implicit reference models under the conditions of control signal constraints and a priory uncertainty, the synthesis of combined nonlinear control algorithms for a system of inverted pendulums connected by a spring is discussed. With the help of computational experiments, the quality of the obtained control system is studied.
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