Comparative Study About H_? Robust Control Based On Dynamic State Feedback And Static State Feedback

Robust H_? control design methods based on static state feedback and dynamic state feedback are studied in this thesis,a comparative study on control performance between the two method is conducted as well.The basic knowledge and main research methods of robust control theory,linear matrix inequality(LMI)theory and application of LMI toolbox are introduced first.Then,based on LMI theory,the sufficient conditions of static and dynamic state feedback control were deduced and the design method of the controller is put forward.The double and triple inverted pendulum model is the research object in this paper.Their static state feedback robust H_? controller and dynamic state feedback robust H_? controller are designed.The effectiveness of the control method proposed is demonstrated through MATLAB simulations.Comparative studies on the control effect of static and dynamic state feedback robust H_? controller are conducted.The results show that the dynamic-state-feedback-based H_?controller has a same effectiveness as the one based on static state feedback.The former has more flexibility and less conservatism than the other,but the latter has the better performance on dynamic stationarity and disturbance attenuation capability.