抄録
In this paper, a design method of the nonlinear H∞ state feedback is proposed for a nonlinear descriptor model of an inverted pendulum system. First, the nonlinear descriptor model of a polynominal type with structural uncertainties for the inverted pendulum system introduced. The descriptor variables of this model include not only state variables but also the time derivative of state variables. Next, a state-dependent matrix inequality condition, which is can be transferred to the finite number of linear matrix inequalities, for the nonlinear robust H∞ control problem and the eigenvalue location problem is given. The validity of the proposed nonlinear H∞ control is shown through experiments as compared with the other nonlinear H∞ control.
