Application of human-imitating intelligence control and robust LQ control to the benchmark problem for the inverted pendulum
拟人智能控制及鲁棒LQ控制在倒立摆基准问题中的应用

Human-imitating intelligence control method and robust linear quadratic(LQ) method are applied to the nominal and uncertain inverted pendulum system respectively.The former method analyzes the (plant) to be controlled and derives the (qualitative) control law from the point of view of physics by adopting the general reduction method.The coefficients of the (qualitative) control law can be searched by genetic algorithm,which has globally convergent property.As for uncertain systems in state space representation,if the parameter uncertainty is structured and value bounded,the robust LQ controller is designed by resolving one Riccati equation.The simulation shows that these methods are effective and efficient in dealing with the inverted pendulum benchmark problem.