An Analytical Formula for Optimal Tuning of the State Feedback Controller Gains for the Cart-Inverted Pendulum System

摘要

This paper resolves the long-standing problem of state-feedback gain tuning for Cart-Inverted-Pendulum system by identifying a natural choice for the closed loop poles that ensures speed of response as well as robust stabilization. It first identifies the robustness issue that arises due to gain variations in the input and the output signals of this single-input-two output system. It then proposes a robustness measure for such a system and obtains the controller gains that maximize the same. Simulations, as well as experimental results, confirm the superiority of this controller over existing ones.