H2/H∞ Robust Control Design for Rotary Inverted Pendulum

Luís Felipe  Vieira Silva; Thiago  Damasceno Cordeiro; Ícaro Bezerra  Queiroz de Araújo; Heitor  Judiss Savino

doi:10.48011/asba.v2i1.1610

Luís Felipe Vieira Silva Institute of Computing, Federal University of Alagoas
Thiago Damasceno Cordeiro Institute of Computing, Federal University of Alagoas
Ícaro Bezerra Queiroz de Araújo Institute of Computing, Federal University of Alagoas
Heitor Judiss Savino Institute of Computing, Federal University of Alagoas

DOI: https://doi.org/10.48011/asba.v2i1.1610

Keywords: Robust control systems, H2/H∞ controller, Linear matrix inequalities, Rotary inverted pendulum, Uncertain systems

Abstract

This works presents a H2/H∞ robust control scheme for a rotary inverted pendulum using Linear Matrix Inequality (LMI) approach based on Lyapunov theory and taking into account the uncertainty of the position of the pendulum to the servo-basis of the system. The dynamic model of the system is obtained by Euler-Lagrange formulation and the controller is obtained by solving a convex optimization problem. Experiments using this control scheme with changes in the position of the pendulum were made to compare the performance with another controller using pole placement control design. Results show that only H2/H∞ controller is able to maintain the stability of the system for all experiments performed in this work.