アベ　ナオト   Abe Naoto   阿部　直人    所属   明治大学  理工学部    職種   専任教授
発表年月日	2018/06/30
発表テーマ	State predictive control by integral approximation for inverted pendulum with time delay
会議名	14th IFAC Workshop on Time Delay Systems
主催者	International Federation of Automatic Control
学会区分	国際学会
発表形式	口頭（一般）
単独共同区分	共同
開催地名	Budapest, Hungary
発表者・共同発表者	Abe, Naoto & Fukunaga, Shinya
概要	In this presentation, we apply the approximation method of Mirkin and Q-C Zhong for the rotary inverted pendulum with a flexible arm. Because the plant has the flexible arm, we should suppress the vibration of the arm and stabilize the pendulum by using LQR with frequency-shaped weights. By the trapezoidal and Mirkin approximation, a difference of the remarkable performance is not seen in experiments and analysis. In both cases, it is caused by increasing gains in a low frequency band. On the other hand, an effective result was provided with this plant because the gain of the low frequency band was suppressed by the Q-C Zhong method. Mirkin approximation is effective in the high frequency band, however, the property of trapezoidal approximation is appeared in the low frequency band. Therefore, it can be expected that it is suppressed in both high and low frequency bands by using Q-C Zhong approximation instead of the part of trapezoidal approximation. {Zfc(s)} We are able to demonstrate that the mixed approximation can reduce the most divided number by experiments. We show a video by the presentation.