Robust Stabilization of an Inverted Pendulum using a Slow-fast Decomposition Approach
| Authors: | Amjadifard Roya, Tarbiat Modarres University of Tehran, Iran (Islamic Republic of)
Morris Kirsten, University of Waterloo, Canada
Beheshti Mohammad, Tarbiat Modarres University of Tehran, Iran (Islamic Republic of)
Khaloozadeh Hamid, K. N. Toosi University of technology of Tehran, Iran (Islamic Republic of) |
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| Topic: | 2.5 Robust Control |
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| Session: | Robust Controller Synthesis |
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| Keywords: | Inverted pendulum, H-inf Control, Slow-fast decomposition |
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Abstract
In this paper, robust stabilization of an experimental system is considered. This system consists of a pendulum free to rotate 360 degrees that is attached to a cart. The cart can move in one dimension. The linearized model of the system is used and transformed to a linear diagonal form. The system is separated into slow and fast subsystems. The fast dynamics are treated as a disturbance and this is used to design a H-infinity controller for a system with lower order than the original system.
