Robust Control of an Inverted Pendulum on a Cart
نویسنده
چکیده
This paper investigates the design and analysis of three controllers used to stabilize an inverted pendulum on a cart. This is accomplished by decomposing each control algorithm into two separate phases: swing-up control and stabilization control. A classical, H2, and H∞ design are each considered to stabilize a nominal linearized model of the inverted pendulum on a cart in the upward vertical position. The effectiveness of each stabilizing design is evaluated through the use of the μ synthesis bound, as it applies to nominal performance, robust stability, and robust performance. Simulation results are provided to show the validity of each method.
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