H^∞ Control of a Parallel Inverted Pendulum System

Abstract

It is important to verify the effectiveness of various control design methods by experiment. For this purpose, first, this paper proposes a new type of parallel inverted pendulum system for experimental use, whose controllability can be easily changed. Second, we analyze how the system characteristics depends on its physical parameters from the viewpoint of robust stability and controllability. Third, a two-degree-of-freedom controller is designed for the system based on the H^∞ loop shaping design procedure. Finally, we evaluate the effectiveness of the controller by experiments, which includes the comparison with LQ optimal control method.