Robust Control Theory Based Performance Investigation Of An Inverted Pendulum System Using Simulink

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Academic Paper from the year 2020 in the subject Computer Science - Software, , language: English, abstract: In this paper, the performance of inverted pendulum have been Investigated using robust control theory. The robust controllersused 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 ShapingControllers for a control target deviation of an angle from vertical of the inverted pendulum using two input signals (step andimpulse). The simulation result shows that the inverted pendulum with mixed H∞ Loop Shaping Controller to have a small risetime, 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 simulationresult.