摘要：AbstractA linear parameter varying(LPV) optimalL2gain controller is designed with mixed-sensitivity shaping to stabilize an inverted pendulum attached to acontrol moment gyroscope(CMG). Swing-up of the pendulum is achieved by a start-up LPV controller for which the reference is designed by an energy regulator. The LPV performance controller is enabled as soon as the pendulum enters into its operating range of ±0.15 rad. Based on both simulation and experimental results, it is demonstrated that stabilization of the pendulum is achieved for varying gimbal angles and rotational speed of the flywheel.
关键词：KeywordsLinear parameter-varyingoptimal controlcontrol moment gyroscopependulummixed sensitivity
