H∞ robust optimal control for linear double inverted pendulum systems

WANG Chunping, CHEN Haifei, GAO Jinfeng, LI Xianlin

(Keji College, Zhejiang SciTech University, Hangzhou 310014, China)

Abstract: Aiming at the steady control problem, how to realize the robust stability and ensure the optimal H∞ control performance index about the linear double inverted pendulum systems with parameter uncertainties and external disturbance were considered. Based on the state feedback, optimal control and H∞ robust control methods, H∞ robust optimal state feedback controller was designed to realize the steady control of the inverted pendulum system. By using the designed controller, based on the inverted pendulum experimental platform, the process of controlling and stabilizing the inverted pendulum was verified. The results indicate that the proposed controller can stabilize the linear double inverted pendulum system very well and has good robust property and expected H∞ performance index for the controlled system with parameter uncertainties.

Key words: linear double inverted pendulum; H∞ robust control; state feedback; optimal control