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