Title :
H/sup /spl infin// control of inverted pendulum
Author :
Weng Zhengxin ; Wang Guangxiong ; Yao Yixin
Author_Institution :
Harbin Inst. of Technol., China
Abstract :
This note is concerned with the control of a double inverted pendulum. The control system is based on robust H/sup /spl infin// state feedback control theory and is designed by using the computer aided design software developed by the authors. The resulting controller is a robust H/sup /spl infin// controller for a linearized model in the neighbourhood of the upright position of double inverted pendulum. Simulation results show that the designed controller works satisfactorily.<>
Keywords :
H/sup /spl infin// control; control system CAD; multivariable control systems; robust control; state feedback; H/sup /spl infin// control; computer aided design software; double inverted pendulum; linearized model; robust H/sup /spl infin// state feedback control; upright position; Control systems; Fasteners; Friction; Integrated circuit modeling; Noise measurement; Pulleys; Rails; Riccati equations; Transfer functions; Uncertainty;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320531
