Open AccessRobust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System
Publication year - 2018
Publication title -
al-maǧallaẗ al-ʻirāqiyyaẗ li-handasaẗ al-ḥāsibāt wa-al-ittiṣālāt wa-al-sayṭaraẗ wa-al-naẓm
Language(s) - English
Resource type - Journals
eISSN - 2617-3352
pISSN - 1811-9212
DOI - 10.33103/uot.ijccce.18.1.4
Subject(s) - inverted pendulum , control theory (sociology) , robustness (evolution) , nonlinear system , double inverted pendulum , control engineering , full state feedback , controller (irrigation) , position (finance) , computer science , engineering , control (management) , physics , artificial intelligence , agronomy , biochemistry , chemistry , finance , quantum mechanics , biology , economics , gene
This paper presents the design of a full state feedback H∞ controllerto an inverted pendulum system. The nonlinear and linearized models of thesystem are obtained. The main goal of the proposed controller is to maintain thependulum in the upright position and achieve a desirable tracking for the cartposition. To achieve desirable tracking properties an integral term is added. Therobustness of the proposed controller is examined when a 20% variation in theparameters of system is considered.