Robust state feedback H∞ control for a kinds of uncertain systems

The H_∞ control was proposed for a class of uncertain systems in which every element´s value of uncertain matric was limited. This kind of uncertainty was proved to be more normal and extensive by Gu K.M. There were external disturbance and internal disturbance in the systems. A condition for robust stabilization was presented, and the corresponding robust state feedback H_∞ controller design method was given. An inverted pendulum equilibrium controller was designed using the proposed method. Results show that, compared with the controller designed by LQ method, the controller designed by the proposed method has the advantages of strong robust stability and good closed loop dynamic performance.