Abstract A new constrained complex follow-up system-cup and ball pendulum system is proposed. To study control strategy of constrained dynamic system, this cup and ball pendulum system was chosen as study object. The system was modeled by Lagrange dynamics method. Controllability and observability of the system were studied firstly. Robust double closed-loop PID control and linear quadratic regulator optimal control based on genetic algorithm were used to achieve the experiment comparison. The comparative analysis results showed that robust double closed loop PID controller was of better robustness and transient characteristics, and linear quadratic regulator optimal controller based on genetic algorithm was of better dynamic characteristics.
FU Rong-rong,LI Dong-yu,SHI Pei-ming. Research on Establishment and Control of a Constrained Complex Dynamic System Model[J]. Acta Metrologica Sinica, 2017, 38(4): 444-448.
2017, Vol. 38 
