Stability Control of Double Inverted Pendulum on a Cart Using Full State Feedback with H infinity and H 2 Controllers

Mustefa Jibril; Messay Tadese; Reta Degefa

doi:10.20944/preprints202008.0385.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 13 August 2020 / Approved: 18 August 2020 / Online: 18 August 2020 (11:11:01 CEST)

In this paper a full state feedback control of a double inverted pendulum on a cart (DIPC) are designed and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. A full state feedback control with H infinity and H 2 is addressed. Two approaches are tested: open loop impulse response and a double inverted pendulum on a cart with full state feedback H infinity and H 2 controllers. Simulations reveal superior performance of the double inverted pendulum on a cart with full state feedback H infinity controller.

Double inverted pendulum on a cart, Full state feedback H infinity controller, Full state feedback H 2 controller

Engineering, Control and Systems Engineering

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Stability Control of Double Inverted Pendulum on a Cart Using Full State Feedback with H infinity and H 2 Controllers

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