| With the expeditious development of computer technology and with the impetus of mathematic,control theory advanced with great progress,especially robust control theory. In this thesis,there are many robust control theory results included,such as:Two Degrees of Freedom Control,Youla Parameterization Theory,//" synthesis,H2 ///"Multiobjective Control,Loop Shaping. All above are included in robust control theory in frequency field and robust control theory in state-space field. How to combine the results of the two fields to form a new method? How to perform the method efficiently in application? All these are the challenging work confronted before us. This thesis is focused in the design of two degrees of freedom (TDOF) controller by using H∞ loop shaping method and H2/H∞ loop shaping method. Then in term of these methods,the simulation in ECP MODEL 505 Inverted Pendulum is explored and the results show the efficiency of the methods.Firstly,the development of control theory,especially the development of H2/H∞ Multiobjective control theory is introduced. Then,the TDOF system is presented and all stabilizing controllers for it are brought out by using Youla parameterization theory. Meanwhile,how to search the parameters is also given. Based on these,the TDOF design procedures by using H∞ loop shaping method and H2/H∞ loop shaping methods are presented in later chapter.In this thesis,two H2/H∞ methods are included:H2/H∞ method based on the convex program and H2/H∞ method based on the generalized regulator theory. The discussions on them are extensive. The essence of the two methods is pointed out that the convex H2/H∞ method is a H2 sub-optimal method and the H2/H∞ method based on generalized regulator theory is a H∞ sub-optimal method.Such research works make an effective investigation in the design of TDOF controller,H∞ Synthesis,H2/H∞ Control,and Loop Shaping,offer a new idea into all these method and pose extensive prospects to application. |
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