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Stabilization of the Furuta Pendulum with backlash using H ∞ ‐LMI technique: experimental validation
Author(s) -
Pujol Gisela,
Acho Leonardo
Publication year - 2010
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.202
Subject(s) - furuta pendulum , control theory (sociology) , linear matrix inequality , inverted pendulum , backlash , nonlinear system , actuator , double pendulum , pendulum , controller (irrigation) , realization (probability) , engineering , mathematics , control engineering , control (management) , computer science , physics , mathematical optimization , artificial intelligence , mechanical engineering , agronomy , statistics , quantum mechanics , biology
The rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively for control performance evaluation in under‐actuated mechanisms. The H ∞ control invoking linear matrix inequality ( H ∞ ‐LMI) has been also widely employed for linear control design. This paper deals with the feasibility of the H ∞ ‐LMI technique to stabilize the rotary inverted pendulum around its unstable equilibrium point when there exists a backlash nonlinearity in the actuator. So, the H ∞ ‐LMI faces the nonlinear effect in the actuator and the non‐linear pendulum model. Experimental realization of the designed H ∞ ‐LMI control also shows evidence of the good performance of the controller subject to external perturbation. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society