Design and analysis of controllers for a double inverted pendulum

摘要

A physical control problem is studied with the H_infinity and the u methodology. The issues of modeling, uncertainty modeling, performance specification, controller design, and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the cart. It is shown how these performance limitations will effect the design of H_infinity and u controllers for the system.