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강기원,최군호,민덕기,박기헌 成均館大學校 科學技術硏究所 1996 論文集 Vol.47 No.2
An Inverted Pendulum has been known as a good example to demonstrate effectiveness of the control theory. There have been many Inverted Pendulum Systems used in laboratories with different types. In this paper, the system is the rail-cart type which consists of a cart running on a rail and a pendulum mounted on the cart. And the control objective is to keep the pendulum at the upright position. A controller for balancing an Inverted Pendulum was designed using LQ techniques and simulated by MATLAB. The performance of the controller was verified through the experiment result.
박기헌,최군호 성균관대학교 1998 학술회의지원논문목록집 Vol.1998 No.-
In this paper, state-space parameters of the Wiener-Hopi controller are developed to circumvent its computational difficulty that stems from adoption of the polynomial doubly coprime factorization(DCF) description for the plant transfer matrix. Wiener-Hopi spectral factorization matrices are used to constuct the srable rational DCF from the given polynomial DCF of the plant transfer matrix. The Wiener-Hopi controller formula in terms of polynomial DCF is transformed to the one in terms of stable rational DCF that enables to develop state-space representation.