Grey-box modeling of an inverted pendulum system via identification of a PD-LTI system

Abstract

A rotary-type unstable inverted pendulum system is modeled by means of a parameter-dependent lineartime-invariant (PD-LTI) system. The pendulum systems operating at upright and downright positions are modeled by a PD-LTI system with a scheduling parameter that is fixed in each operation. The unknown parameters are estimated by taking a grey-box modeling approach to the pendulum system operating at the downright position. The obtained model is verified by designing an H^∞ controller.