H_∞ Controller Applied in Inverted Pendulum
Author(s): GUO Rui-hua, XIANG Nan-xiu, LIU Cong-zhi, DU Hong-ming, College of Mechanical Engineering, Southwest Jiaotong University
Pages: 143-146
Year: 2016 Issue: 5
Journal: Coal Mine Machinery
Keyword: inverted pendulum; LQR; H∞; robustness;
Abstract: Due to the characteristic of inverted pendulum system, we must use effective control methods to stabilize it, so it is commonly used to verify the performance of the control system. Currently, the LQR control method is mostly used in the inverted pendulum system, but it has relatively poor anti-jamming capability. Popose a controller which is designed with H∞theory. According to the simulation results, we find that H∞controller has a strong anti-interference ability, which has strong robustness and works well when interference exists.
Pages: 143-146
Year: 2016 Issue: 5
Journal: Coal Mine Machinery
Keyword: inverted pendulum; LQR; H∞; robustness;
Abstract: Due to the characteristic of inverted pendulum system, we must use effective control methods to stabilize it, so it is commonly used to verify the performance of the control system. Currently, the LQR control method is mostly used in the inverted pendulum system, but it has relatively poor anti-jamming capability. Popose a controller which is designed with H∞theory. According to the simulation results, we find that H∞controller has a strong anti-interference ability, which has strong robustness and works well when interference exists.
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