| 203A3 |
|---|
| H-infinity Control of an Inverted Pendulum System |
| AUTHORS |
| Hidekazu TAKAHARA, Yoshito TANAKA , Isao YOKOMICHI (Kitakyushu National College of Technology) |
| ABSTRACT |
| This paper refers to a robust stabilization problem of an Inverted Pendulum system that consists of a single pendulum attached to a cart. The state-space formula of the system is based on the Doyle¡Çs representation, assuming that the model error is a multiplicative uncertainty at the plant output. The generalized plant is then constructed, and the robust stabilization conditions are applied to the specified closed-loop transfer function to minimize its norm. Examination of the closed-transfer function by MATLAB code showed the validity of modeling the plant for the robust stability problem. Furthermore, the simulated impulse response of the system with nominal plant parameters resulted in a good robust stabilizing control. |
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Annual Conference 2002