Abstract
Aiming at a triple Inverted pendulum model, the H ∞ robust control problem based on dynamic state feedback and static state feedback is studied in this paper. First, the sufficient condition for H ∞ robust stability based on dynamic state feedback is obtained by employing the linear matrix inequality (LMI) approach. And the design method of the H ∞ dynamic state feedback controller is given. Then, the comparison with H ∞ robust control method based on static state feedback is studied by the simulations. The results show that the dynamic-state-feedback-based H ∞ controller is equally effective as the one based on static state feedback. The former has more flexibility and less conservatism than the other, but the latter has better performance on dynamic stationarity and disturbance attenuation capability.
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