Title :
Reduced order H∞ compensator design for an inverted pendulum control problem
Author :
Campbell, Eric ; Hsu, Chin ; Yu, Xianggang
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Washington State Univ., Pullman, WA, USA
fDate :
29 June-1 July 1994
Abstract :
A new method for dealing with one of the nonstandard cases of reduced order H∞ design is fully developed for a singular control problem. A reduced order H∞ controller is designed for an inverted pendulum on a cart where the output measurement is disturbance free. The results are compared to a full order compensator.
Keywords :
H∞ control; compensation; control system synthesis; nonlinear control systems; reduced order systems; inverted pendulum control problem; reduced-order H∞ compensator design; singular control problem; Closed loop systems; Control systems; Eigenvalues and eigenfunctions; Kirchhoff´s Law; Linear matrix inequalities; Process design; Riccati equations; Stability criteria; State feedback;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751926
