基于Riccati方程和LMI算法的H∞控制器的设计与实现

Designation and realization of H∞ controllers based on Riccati equation and LMI algorithm

摘要:

H∞控制是一种重要的鲁棒控制方法,它以H∞范数作为控制性能指标,是一种最优控制方法,目的是求出系统内部稳定的控制器,使闭环传递函数的无穷范数极小,达到控制的目的。以固高公司的直线一级倒立摆为控制对象,实现基于Riccati方程和LMI算法的H∞控制器设计,采用M文件及simulink实现系统建模、控制器的设计,完成系统算法的验证,实验表明,控制器的输出、倒立摆系统的状态变量变化平稳,系统具有较强的鲁棒性,系统表现出良好的动态品质,验证了H∞控制器的有效性。

Abstract:

H-infinity control is an important kind of robust control method, it with h-infinity norm as the control performance index, is a kind of optimal control method, purpose is to find the internal stability of controller, the infinite norm of the closed-loop transfer function, achieve the goal of control.With fixed high linear level inverted pendulum as control object, realize the Riccati equation and LMI algorithm based h-infinity controller design, the system is realized by using M documents and simulink modeling, controller design, validation of the complete system algorithm, the experimental results show that the output of the controller, the change of the state variables of inverted pendulum system was stable, the system has strong robustness, the system shows good dynamic quality and effectiveness of h-infinity controller is verified.