Published in: 3rd International Conference on Electrical Engineering
COI code: ICELE03_413
Paper Language: English
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Authors Robust Controller Design for a Rotary Inverted PendulumArmin Mohammadie Zand - Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran
Seyyed Ali Ghafafarian - Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
Kazhal Almasi - Department of Electrical Engineering, Arak University, Arak, Iran
Abstract:In this paper, a robust H∞ controller is designed for the Rotating Inverted Pendulum. The main objective is totrack a certain reference given by a manual input. Since the plant is inherently unstable, the tracking has to be made insuch a way that doesn t endanger stability. The paper will show that an unstable plant with uncertain actuators canindeed be robustly stabilized while maintaining acceptable performance compared to a nominal linear controller, andkeep its tracking and stability in the presence of noise or disturbance. Finally, the H∞-controller and the μ responsesperformances are compared in the worst-case scenario.
Keywords:D-K iteration, Design Constraints, H∞ Controller, Robust Controller, Rotary Inverted Pendulum
COI code: ICELE03_413
how to cite to this paper:If you want to refer to this article in your research, you can easily use the following in the resources and references section:
Mohammadie Zand, Armin; Seyyed Ali Ghafafarian & Kazhal Almasi, 2018, Robust Controller Design for a Rotary Inverted Pendulum, 3rd International Conference on Electrical Engineering, تهران, انجمن فناوری های نوین, https://www.civilica.com/Paper-ICELE03-ICELE03_413.htmlInside the text, wherever referred to or an achievement of this article is mentioned, after mentioning the article, inside the parental, the following specifications are written.
First Time: (Mohammadie Zand, Armin; Seyyed Ali Ghafafarian & Kazhal Almasi, 2018)
Second and more: (Mohammadie Zand; Ghafafarian & Almasi, 2018)
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Type: state university
Paper No.: 12421
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