FRIT法の状態フィードバックゲイン調整への応用

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/06/01

タイトル(英語): An Application of Fictitious Reference Iterative Tuning to State Feedback Control

著者名: 松井　義弘（東京工業高等専門学校），赤松　駿一（東京工業高等専門学校），木村　知彦（東京工業高等専門学校），中野　和司（電気通信大学），桜間　一徳（鳥取大学）

著者名(英語): Yoshihiro Matsui (Tokyo National College of Technology), Shunichi Akamatsu (Tokyo National College of Technology), Tomohiko Kimura (Tokyo National College of Technology), Kazushi Nakano (The University of Electro-Communications), Kazunori Sakurama (Tottori University)

キーワード: 状態フィードバック制御，倒立振子，不安定系，ゲイン調整，FRIT法，安定性解析　　state feedback control，inverted pendulum，unstable system，gain tuning，FRIT，stability analysis

要約(英語): In this paper, an application method of Fictitious Reference Iterative Tuning (FRIT), which has been developed for controller gain tuning for single-input single-output systems, to state feedback gain tuning for single-input multivariable systems is proposed. Transient response data of a single-input multivariable plant obtained under closed-loop operation is used for model matching by the FRIT in time domain. The data is also used in frequency domain to estimate the stability and to improve the control performance of the closed-loop system with the state feedback gain tuned by the method. The method is applied to a state feedback control system for an inverted pendulum with an inertia rotor and its usefulness is illustrated through experiments.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.6 （2012） 特集：データ指向型モデリング/予測/制御

本誌掲載ページ: 851-859 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/6/132_851/_article/-char/ja/