Robust Control Design and Simulation for Cantilever-Typed Inverted Pendulum
In order to solve the problem of the control cantilever-typed inverted pendulum, the second order mathematic model for cantilever-typed inverted pendulum is built in this paper. Using the theory of Linear Robust Optimal Control, the systematic linear robust optimal controller is designed for the stability of this pendulum under the closed loop state. Compared to traditional Linear Quadratic Optimal Control, the final result shows that the robust optimal method has better effects by using Matlab simulation technique.
B. Zhang and L. F. Gu, "Robust Control Design and Simulation for Cantilever-Typed Inverted Pendulum", Advanced Materials Research, Vol. 187, pp. 548-553, 2011