Structured Robust Stability Analysis Of An Inverted Pendulum System With A Fixedfeedback

Authors : Ahmet YAZICI, Abdurrahman KARAMANCIOĞLU

Pages : 55-70

View : 26 | Download : 5

Publication Date : 2005-12-31

Article Type : Research Paper

Abstract :Robust stability analysis of inverted pendulum system with a fixed linear quadratic  feedback is carried out using μ analysis tools. A mathematical model of inverted pendulum system is  presented and linearized about the desired equilibrium point. A linear quadratic control feedback matrix  is used in the configuration of the nominal inverted pendulum system for its stabilization. After this,  uncertainties in the inverted pendulum with a fixed feedback, is modeled in linear fractional  transformation form , which is suitable for structured singular value computation. Both parametric and  modeling uncertainties are considered in the inverted pendulum system. After deriving out uncertain  system model, mixed μ analysis method which is a structured uncertainty analysis method, is used to  compute the uncertainty bound that does not cause instability of the inverted pendulum under feedback. A  simulation test for validity of the results is provided.
Keywords : Structured singular value, Uncertainty, Robustness, Inverted pendulum