Abstract
AbstractThe rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively for control performance evaluation in under‐actuated mechanisms. The H∞ control invoking linear matrix inequality (H∞‐LMI) has been also widely employed for linear control design. This paper deals with the feasibility of the H∞‐LMI technique to stabilize the rotary inverted pendulum around its unstable equilibrium point when there exists a backlash nonlinearity in the actuator. So, the H∞‐LMI faces the nonlinear effect in the actuator and the non‐linear pendulum model. Experimental realization of the designed H∞‐LMI control also shows evidence of the good performance of the controller subject to external perturbation. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
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