Title :
Design of a nonlinear H∞ controller for the inverted pendulum system
Author :
Hu, Shr-Shiung ; Chang, Bor-Chin
Author_Institution :
Dept. of Mech. Eng. & Mech., Drexel Univ., Philadelphia, PA, USA
Abstract :
A well-known control application, the inverted pendulum system, is formulated as a nonlinear H∞ control problem. In order to construct a nonlinear H∞ controller, it is essential to find a solution for the Hamilton-Jacobi equation (HJE). A successive algorithm is employed to obtain an approximate solution of the HJE and then a nonlinear H∞ controller is constructed. Simulations of the closed-loop pendulum responses for both the nonlinear and the linear H∞ controllers are performed and compared. It is found that the nonlinear H∞ controller has better performance and robustness than the linear controller
Keywords :
H∞ control; closed loop systems; control system synthesis; matrix algebra; nonlinear control systems; pendulums; stability; state-space methods; H∞ control; Hamilton-Jacobi equation; approximate solution; closed-loop system; energy dissipation; inverted pendulum system; nonlinear control systems; robustness; state space; Contracts; Control systems; Energy dissipation; Mechanical engineering; NASA; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Riccati equations; Robust control;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721549
