Mixed H2/H-infinity Controller Design for Triple Inverted Pendulum System

Authors

• Yamama A. Shafeek, Control and Systems Engineering Department, University of Technology, Baghdad, IraqFollow
• Hazem I., Control and Systems Engineering Department, University of Technology, Baghdad, IraqFollow

Document Type

Original Study

Keywords

Control Engineering

Abstract

The steady increase in reliance on robotic systems in industrialapplications arises the need to ensure their reliability despite the presence ofexternal disturbances in the environment they work in and their parametersvariations due to several factors like: change of temperature, wear and teareffect, and payload variation. Traditional controllers usually fail to maintainthe system's stability and performance in the presence of uncertainty, whilerobust controllers aim to guarantee stability and desired performance across arange of possible uncertainties in the system through incorporating theseuncertainties into their design process. This paper investigates the robustness of three controllers namely, H2 controller, H-infinity controller, and mixed H2/H-infinity controller, applied to the triple inverted pendulum system which translates to robustly control legged robots and robotic arms. The results showthat among the three controllers, only the mixed H2/H-infinity control system isrobustly stable and maintains its performance with stability margin 1.1864 andperformance margin 1.1662.

How to Cite This Article

Shafeek, Yamama A. and I., Hazem (2024) "Mixed H2/H-infinity Controller Design for Triple Inverted Pendulum System," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 24: Iss. 3, Article 8.
DOI: 10.33103/uot.ijccce.24.3.8
Available at: https://ijccce.researchcommons.org/journal/vol24/iss3/8