Research on iterative learning control scheme for inverted pendulum

LI Zhan-ming; AI Wen-huan; CHEN Ruo-zhu

doi:10.13873/j.1000-97872008.04.025

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Research on iterative learning control scheme for inverted pendulum

更新时间：2025-09-11

- Research on iterative learning control scheme for inverted pendulum
- Issue 4, Pages: 40-42(2008)
- 作者机构：
  
  1. 兰州理工大学电气工程与信息工程学院
  2. 兰州理工大学电气工程与信息工程学院,甘肃,兰州,730050
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872008.04.025
  CLC： TP13
- Published：2008
- 稿件说明：
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[1]李战明,艾文欢,陈若珠.倒立摆的迭代学习控制方法研究[J].传感器与微系统,2008(04):40-42.

LI Zhan-ming, AI Wen-huan, CHEN Ruo-zhu. Research on iterative learning control scheme for inverted pendulum[J]. 2008, (4): 40-42.
[1]李战明,艾文欢,陈若珠.倒立摆的迭代学习控制方法研究[J].传感器与微系统,2008(04):40-42. DOI： 10.13873/j.1000-97872008.04.025.

LI Zhan-ming, AI Wen-huan, CHEN Ruo-zhu. Research on iterative learning control scheme for inverted pendulum[J]. 2008, (4): 40-42. DOI： 10.13873/j.1000-97872008.04.025.

摘要

针对倒立摆系统典型的非线性、多变量和自然不稳定的特点

在建立系统数学模型基础上

利用迭代学习控制方法

根据动态指标的要求设计了控制器

并完成了系统仿真

结果表明:与传统反馈控制相比较

所设计的迭代学习控制器使系统的动态性能得到了很大的改善。

Abstract

Aimed at the characters of classic nonlinear

multivariable and absolutely unstable about inverted pendulum

based on the mathematical model

controller is designed according to the required dynamic performance indexes by iteration learning control method

and the simulation is accomplished.Results show that compared with those of traditional state feedback controller

the dynamic performances of the system can be greatly improved.

关键词

Keywords

references

D型闭环迭代学习控制的2-D模型及收敛性分析 [J]. 孙志毅,丁伟东,吴聚华. 太原重型机械学院学报 . 2002(03)

非线性时变系统开闭环P型迭代学习控制的收敛性 [J]. 皮道映,孙优贤. 自动化学报 . 1999(03)

迭代学习控制[M]. 国防工业出版社 , 孙明轩,黄宝健著, 1999

迭代学习控制理论[M]. 西北工业大学出版社 , 林辉,王林著, 1998

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