A novel LMI based swing-up robust controller for a serial double inverted pendulum

This paper presents a robust controller based on the application of the linear matrix inequalities (LMI) to solve the swinging up and stabilization problem of a serial double inverted pendulum (SDIP), which is of complicate nonlinearities and limitations of actuator and sensors. The designed H-infinity robust controller was optimized to realize the required objectives and eliminate the negative effect of external disturbance. From the results of experiments in laboratory and numerical simulations, the proposed controller tests and verifies a satisfying performance in time responses, and its comparison with sliding mode controller confirms the advantages and efficiency of control performance in this pendulum problem.