Preprint Article Version 1 This version is not peer-reviewed

Stability Control of a Rotational Inverted Pendulum Using Augmentations with Weighting Functions Based Robust Control System

Version 1 : Received: 14 June 2020 / Approved: 14 June 2020 / Online: 14 June 2020 (17:54:38 CEST)

How to cite: Jibril, M.; Tadese, M.; Alemayehu Tadese, E. Stability Control of a Rotational Inverted Pendulum Using Augmentations with Weighting Functions Based Robust Control System. Preprints 2020, 2020060190 (doi: 10.20944/preprints202006.0190.v1). Jibril, M.; Tadese, M.; Alemayehu Tadese, E. Stability Control of a Rotational Inverted Pendulum Using Augmentations with Weighting Functions Based Robust Control System. Preprints 2020, 2020060190 (doi: 10.20944/preprints202006.0190.v1).

Abstract

This paper mainly analyzes the design and control of the rotational inverted pendulum, and presents a state space expression. Since the system is highly unstable a feedback control system is used. Augmentations with weighting functions based mixed sensetivity and H2 optimal control methods are used to make the system stable for uprise position. The rotational inverted pendulum have been simulated and compared with the proposed controllers and a promising results have been analyzed sussesfuly.

Subject Areas

inverted pendulum; Augmentation; Mixed sensetivity; H2 optimal

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