Stabilizing control of an inverted pendulum system based on H∞ loop shaping design procedure

Loop shaping design procedure (LSDP) is one of the most promising H_∞ design procedure, which incorporates loop shaping methods to obtain performance or robust stability trade-offs. The advantage is that LSDP does not require γ-iteration for its solution, and explicit formulas for the corresponding controller are available. Many controllers designed by the method give satisfactory results, such as in aerospace applications. In this paper, we design a robust controller for stabilizing an inverted pendulum system by LSDP. Simulation results show that the designed controller works satisfactorily