Robust Stabilization of an Inverted Pendulum Using a Slow-fast Decomposition Approach
نویسندگان
چکیده
In this paper, robust stabilization of an experimental system is considered. This system consists of a pendulum free to rotate 360 degrees that is attached to a cart. The cart can move in one dimension. The linearized model of the system is used and transformed to a linear diagonal form. The system is separated into slow and fast subsystems. The fast dynamics are treated as a disturbance and this is used to design a ∞ H controller for a system with lower order than the original system. Copyright © 2005 IFAC
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