H(subscript ∞) State Feedback Disturbance Rejection of DSP-Based Pendubot

Abstract

The disturbance rejection control of the DSP (Digital Signal Processor)-based pendubot is investigated in this paper. The H(subscript ∞) control method is utilized to reject disturbances and maintain the robust stability. There are two equilibrium positions of the pendubot, one is the middle position and the other is the top position. Both of these equilibrium positions are derived and designed. The pendubot is a kind of the inverted pendulums and an original nonlinear unstable system. The appropriate controls are necessary to maintain the robust stability. The pendubot is also an excellent educational tool and impresses students. The balancing control law used in this paper is the H(subscript ∞) state feedback controller. From the experimental results, the H(subscript ∞)controller is guaranteed to reject disturbances and maintain robust stability of the pendubot.