H2/H∞ Robust Control Design for Rotary Inverted Pendulum

This works presents a H2/H∞ robust control scheme for a rotary inverted pendulum using Linear Matrix Inequality (LMI) approach based on Lyapunov theory and taking into account the uncertainty of the position of the pendulum to the servo-basis of the system. The dynamic model of the system is obtained by Euler-Lagrange formulation and the controller is obtained by solving a convex optimization problem. Experiments using this control scheme with changes in the position of the pendulum were made to compare the performance with another controller using pole placement control design. Results show that only H2/H∞ controller is able to maintain the stability of the system for all experiments performed in this work.