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
- Creative Commons: Attribution CC BY
- Creator: Mustefa Jibril
- Language: English
- Publisher: International Journal of Advance Research and Innovative Ideas in Education
- Year: 2020-03-03
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