Robust H∞/µ Control Design for an Inverted Pendulum

Abstract

This paper presents a case study of a robust H∞/µ controller synthesis of an inverted pendulum device. It illustrates different selection strategies for the performance and robust controller design specifications. The effects of disturbance and uncertain components on performance outputs of the plant are minimized in the H∞ sense. In the case of an inverted pendulum, the designed H∞ controller fulfills the predefined robust stability requirement, however, it does not fulfill the pre-defined performance requirement. In the μ-synthesis, the enhancement of the controller can be achieved taking the structured singular values into consideration. Applying D-K iteration for an inverted pendulum, the designed controller guarantees both the robust stability and the robust performance.