| Summary: | 碩士 === 國立高雄第一科技大學 === 機械與自動化工程研究所 === 102 === This paper discusses a typical design method of double-pendulum system controller. The double-pendulum system is a nonlinear, multi-variable, strong coupling, underactuated and unstable system. It used PID controller and combined with the Linear Quadratic Regulator to achieve control purposes. Then used optimal Taguchi Method to reach stability control. Last used optimal Genetic Algorithm to achieve optimal control.
The process of inverted pendulum workflow design like that. First, Initialize control parameters in multi-modal. Second, selected the required orthogonal array by optimal Taguchi method, then adjusted experimental simulation parameters by orthogonal array. Final used results to proceed analysis and calculated the responded table to find combination of optimal parameters.
The results obtained in this study method can not only find the optimal control parameters but also optimal control performances. Finally the experimental results are applied to instances of inverted pendulum system platform to achieve academic research and practical combination. There are many broad applications which used research methods and technologies, such as precision machinery, robot control, semiconductor and so on.
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