Robust Controller Design for a Rotary Inverted Pendulum
Publish place: 3rd International Conference on Electrical Engineering
Publish Year: 1397
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICELE03_413
تاریخ نمایه سازی: 18 اسفند 1397
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.
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Authors
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