Evaluation of the robustness of H∞ control design versus pole allocation control design using of a wheeled inverted pendulum

The authors apply H_∞-designed controllers to a wheeled inverted pendulum using transfer function shaping techniques. This design study motivates the use of H_∞-techniques and shows the control procedure applied to multi-output and unstable plants. Two disturbances are considered to shape transfer functions: one corresponds to the influence of the gravity force, and the other is disturbance on the control input. Two H_∞ designs are made and compared with a design of the conventional pole allocation method to examine the relations between robust stability and closed loop transfer functions. Experimental data prove the superiority of H_∞ designs with the shaping of transfer functions