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LMI Based Robust Control of Inverted Pendulum System

  • Md. Shah AlamEmail author
  • Sharmistha Mandal
Conference paper
  • 76 Downloads
Part of the Learning and Analytics in Intelligent Systems book series (LAIS, volume 12)

Abstract

In present study, a state feedback robust controller has been designed for an inverted pendulum along with its driving servo-system. The objective is to stabilize extremely unstable and non-linear servo-driven inverted pendulum system. The controller has been designed using Linear Matrix Inequality (LMI) technique by placing the closed-loop poles in a selected region. The controller gives satisfactory result in both stabilization and tracking problems with minimum settling time, maximum overshoot and undershoots. For robustness, the controller is tested in presence of external noise and parameter variations. The performance of designed state-feedback controller is compared with the performance of Linear Quadratic Regulator (LQR) controller. The proposed controller gives superior result in terms of transient response specifications and noise elimination.

Keywords

Inverted pendulum system Regional pole-placement Linear Matrix Inequality Robust control 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Aliah UniversityDepartment of Electrical EngineeringKolkataIndia

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