Design and analysis of controllers for a double inverted pendulum

A physical control problem is studied with the H∞ and the μ methodology. The issues of modeling, uncertainty modeling, performance specification, controller design, and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the cart. It is shown how these performance limitations will effect the design of H∞ and μ controllers for the system.