Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System | Zendy

Abdul Muhsin | Zendy; M Al Timimi | Zendy

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Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System

Author(s) -

Abdul Muhsin,

M Al Timimi

Publication year - 2018

Publication title -

iraqi journal of computer communication control and system engineering

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.

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