Document Type
Original Study
Keywords
Control Engineering
Abstract
This paper presents the design of a full state feedback H∞ controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart position. To achieve desirable tracking properties an integral term is added. The robustness of the proposed controller is examined when a 20% variation in the parameters of system is considered.
How to Cite This Article
Al Timimi, Abdul Muhsin
(2018)
"Robust Full State Feedback Controller Design Using H∞ for Inverted Pendulum System,"
Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 18:
Iss.
1, Article 4.
DOI: 10.33103/uot.ijccce.18.1.4
Available at:
https://ijccce.researchcommons.org/journal/vol18/iss1/4