A Time Delay Compensation Method for Networked Inverted Pendulum Systems with Input Constraints

Abstract

The invention discloses a time delay compensation method of a networked inverted pendulum system having input constraints. The time delay compensation method comprises the steps of: firstly, acquiringa state-space equation of the inverted pendulum system; secondly, establishing a discrete switching system model of a networked inverted pendulum control system based on the obtained state-space equation; and finally designing a state feedback controller satisfying the input constraints, so that the networked inverted pendulum control system is exponentially stable. The time delay compensation method solves the problem of time delay compensation in a networked control system, further solves the input constraint problem existing in the actual system, and realizes stable pendulum control of thenetworked inverted pendulum system having the input constraints; in addition, the time delay compensation method is not limited to the example, and the result of the time delay compensation method isof important reference significance to an actual networked control system.

Description

technical field [0001] The invention relates to the technical field of networked inverted pendulum control, in particular to a time delay compensation method of a networked inverted pendulum system with input constraints. Background technique [0002] Since the emergence of the inverted pendulum control system, due to its high-order, multi-variable, nonlinear, strong coupling and instability characteristics, it has attracted the interest of a large number of experts and scholars, and has become a research hotspot in the field of control. The inverted pendulum system can be considered as a controlled object with the center of gravity on the top and the fulcrum on the bottom. Many control problems in industrial systems can be abstracted as stability control problems of the inverted pendulum. Therefore, the research on the control system of inverted pendulum has important theoretical and practical significance. The networked inverted pendulum control system is different from t...

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Problems solved by technology

[0005] In order to solve the input constraints and time delay compensation problems in the existing networked inverted pendulum control system, the present invention provides a time delay compensation method for the networked inverted pendulum system with input constraints, so as to realize the networked inverted pendulum control system sway control

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