Robust Control Theory Based Performance Investigation Of An Inverted Pendulum System Using Simulink (el. knyga) (skaityta knyga) | knygos.lt

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Academic Paper from the year 2020 in the subject Computer Science - Software, , language: English, abstract: In this paper, the performance of inverted pendulum have been Investigated using robust control theory. The robust controllers used in this paper are H8 Loop Shaping Design Using Glover McFarlane Method and mixed H8 Loop Shaping Controllers. The mathematical model of Inverted Pendulum, a DC motor, Cart and Cart driving mechanism have been done successfully. Comparison of an inverted pendulum with H8 Loop Shaping Design Using Glover McFarlane Method and H8 Loop Shaping Controllers for a control target deviation of an angle from vertical of the inverted pendulum using two input signals (step and impulse). The simulation result shows that the inverted pendulum with mixed H8 Loop Shaping Controller to have a small rise time, settling time and percentage overshoot in the step response and having a good response in the impulse response too. Finally the inverted pendulum with mixed H8 Loop Shaping Controller shows the best performance in the overall simulation result.