Abstract
The 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 wide employed for linear control design. This paper deals with the feasibility of 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 design faces the nonlinear effect in the actuator and the non-linear pendulum model. Experimental realization of the designed H∞-LMI control evidences the good performance of the controller subject to external perturbation too.
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