Abstract
AbstractThis study presents the use of Tustin's friction model and a disturbance observer (DOB) to improve the steady‐state error (SSE) of a bi‐axial inverted pendulum–cart system (IPCS). Furthermore, a hybrid controller contains a feedback linearization control for pendulum angle in the region of 3–12° to enlarge the angle of operation and an H∞ control using loop shaping design procedure (LSDP) for cart position and pendulum angle in the region of 0–3° to stabilize the IPCS, respectively. Experimental results reveal that the pendulum maximum angle of operation is improved from 7 to 12°; the SSE of the angle of the pendulum is reduced from 0.85 to 0.1°, and the SSE of the position of the cart is reduced from 10 to 1.4 mm. Experimental results are illustrated and films are provided at the web site http://hinfinity.myweb.hinet.net to show the effectiveness and robustness of the hybrid controller with Tustin's friction model and DOB compensation. Copyright © 2008 John Wiley & Sons, Ltd.
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