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Robust Controller Design for a Rotary Inverted Pendulum

Credit to Download: 1 | Page Numbers 11 | Abstract Views: 113
Year: 2018
COI code: ICELE03_413
Paper Language: English

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Authors Robust Controller Design for a Rotary Inverted Pendulum

  Armin 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


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.


D-K iteration, Design Constraints, H∞ Controller, Robust Controller, Rotary Inverted Pendulum

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COI code: ICELE03_413

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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, 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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The University/Research Center Information:
Type: state university
Paper No.: 12421
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