μ analysis and synthesis of inverted pendulum
                                                                           ZHANG Yi chen
           (Institute of Mechanical Engineering, Shanghai University of Science and Technology, Shanghai 200093, China)

Abstract: Aiming at the conservatism problem of designing h infinity robust controller on basis of inverted pendulum, μ analysis and synthesis on theory of structure singular value was presented. First, standard h infinity controller was developed and was proved conservative by μ analysis, so that key factors were found out. Then, D K iteration method was applied to correct the original controller and added to system. Finally, the practise effects of improve conservatism were verified by simulation results and comparisons with other h infinity controllers on different interference suppression level. The results indicate that new method declines conservatism and improves output quality, which argues that it is effective.

Key words: inverted pendulum; μ analysis; μ synthesis; standard h infinity control; the algorithm of D K iteration