In this paper, the performance of inverted pendulum have been Investigated
using robust control theory. The
robust controllers used in this paper are H∞ Loop Shaping Design Using
Glover McFarlane Method and mixed
H∞ Loop Shaping Controllers. The mathematical model of Inverted Pendulum,
a DC motor, Cart and Cart
driving mechanism have been done successfully. Comparison of an inverted
pendulum with H∞ Loop Shaping
Design Using Glover McFarlane Method and H∞ Loop Shaping Controllers
for a control target deviation of an
angle from vertical of the inverted pendulum using two input signals
(step and impulse). The simulation result
shows that the inverted pendulum with mixed H∞ Loop Shaping Controller
to have a small rise time, settling
time and percentage overshoot in the step response and having a good
response in the impulse response too.
Finally the inverted pendulum with mixed H∞ Loop Shaping Controller
shows the best performance in the
overall simulation result.
:C\:\\Users\\user\\Desktop\\Mustefa Jibril Publication to Dire Dawa University\\Publication with Certificate\\Robust Control Theory Based Performance Investigation of an Inverted Pendulum System using Simulink\\36305 Paper.pdf:PDF
%0 Journal Article
%1 MustefaJibril12020n
%A Mustefa Jibril1, Eliyas Alemayehu Tadese2 Messay Tadese3
%D 2020
%J Report and Opinion Journal
%K Design Glover H∞ Inverted Loop McFarlane, Shaping Using mixed pendulum,
%N 6
%P 1-6
%R 10.7537/marsroj120620.01
%T Robust Control Theory Based Performance Investigation of an
Inverted Pendulum System using Simulink
%V 12
%X In this paper, the performance of inverted pendulum have been Investigated
using robust control theory. The
robust controllers used in this paper are H∞ Loop Shaping Design Using
Glover McFarlane Method and mixed
H∞ Loop Shaping Controllers. The mathematical model of Inverted Pendulum,
a DC motor, Cart and Cart
driving mechanism have been done successfully. Comparison of an inverted
pendulum with H∞ Loop Shaping
Design Using Glover McFarlane Method and H∞ Loop Shaping Controllers
for a control target deviation of an
angle from vertical of the inverted pendulum using two input signals
(step and impulse). The simulation result
shows that the inverted pendulum with mixed H∞ Loop Shaping Controller
to have a small rise time, settling
time and percentage overshoot in the step response and having a good
response in the impulse response too.
Finally the inverted pendulum with mixed H∞ Loop Shaping Controller
shows the best performance in the
overall simulation result.
@article{MustefaJibril12020n,
abstract = {In this paper, the performance of inverted pendulum have been Investigated
using robust control theory. The
robust controllers used in this paper are H∞ Loop Shaping Design Using
Glover McFarlane Method and mixed
H∞ Loop Shaping Controllers. The mathematical model of Inverted Pendulum,
a DC motor, Cart and Cart
driving mechanism have been done successfully. Comparison of an inverted
pendulum with H∞ Loop Shaping
Design Using Glover McFarlane Method and H∞ Loop Shaping Controllers
for a control target deviation of an
angle from vertical of the inverted pendulum using two input signals
(step and impulse). The simulation result
shows that the inverted pendulum with mixed H∞ Loop Shaping Controller
to have a small rise time, settling
time and percentage overshoot in the step response and having a good
response in the impulse response too.
Finally the inverted pendulum with mixed H∞ Loop Shaping Controller
shows the best performance in the
overall simulation result.},
added-at = {2020-10-07T16:07:29.000+0200},
author = {Mustefa Jibril1, Eliyas Alemayehu Tadese2 Messay Tadese3},
biburl = {https://www.bibsonomy.org/bibtex/253be97e1b65b8e5039ffe6dc60472a59/mustefa1981},
doi = {10.7537/marsroj120620.01},
file = {:C\:\\Users\\user\\Desktop\\Mustefa Jibril Publication to Dire Dawa University\\Publication with Certificate\\Robust Control Theory Based Performance Investigation of an Inverted Pendulum System using Simulink\\36305 Paper.pdf:PDF},
interhash = {009a280ea0f5cd02cb3bff19a3772d42},
intrahash = {53be97e1b65b8e5039ffe6dc60472a59},
journal = {Report and Opinion Journal},
keywords = {Design Glover H∞ Inverted Loop McFarlane, Shaping Using mixed pendulum,},
month = {June},
number = 6,
owner = {user},
pages = {1-6},
review = {peer reviewed},
timestamp = {2020-10-07T16:08:26.000+0200},
title = {Robust Control Theory Based Performance Investigation of an
Inverted Pendulum System using Simulink},
volume = 12,
year = 2020
}