Stabilizing Controller Design for Nonlinear Systems Based on the H∞ Norm and Prefilter

Abstract

This study analyzes the design of stabilization controllers for nonlinear systems. The proposed method is based on the synthesis control method of the H∞ norm and prefilter, which is a low-pass filter. The low-pass filter is coupled to structure an open-loop transfer function such that sensitivity and complementary sensitivity functions possess desirable frequency characteristics. The H∞ controller, which was designed to validate the proposed controller method, was applied to a representative nonlinear system of an inverted pendulum system, and results were compared with the with that of a PID controller application. Simulation results show that the designed controller well adhered to control objectives while reducing the influence of modeling error and noise.