Full state feedback H2 and h-infinity controllers design for a two wheeled inverted pendulum system
Joint Authors
Sharif, Zayn M.
Ali, Hazim Ibrahim
Source
Engineering and Technology Journal
Issue
Vol. 36, Issue 10A (31 Oct. 2018), pp.1110-1121, 12 p.
Publisher
Publication Date
2018-10-31
Country of Publication
Iraq
No. of Pages
12
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this work, two robust controllers, which are full state feedback, H2 and full state feedback ?∞ controllers are proposed for the two wheeled inverted pendulum system.
The nonlinear equations for the two wheeled inverted pendulum system are developed using Euler – Lagrange equation.
The system parameters changes are considered to show the effectiveness of the proposed robust controllers.
These controllers are proposed not only to stabilize the pendulum in upright position but also to drive the position to track a given reference input.
The results show that more desirable robustness and time response specifications can be achieved using the proposed controllers.
The effectiveness of the proposed controllers is verified experimentally using real two wheeled inverted pendulum system.
American Psychological Association (APA)
Ali, Hazim Ibrahim& Sharif, Zayn M.. 2018. Full state feedback H2 and h-infinity controllers design for a two wheeled inverted pendulum system. Engineering and Technology Journal،Vol. 36, no. 10A, pp.1110-1121.
https://search.emarefa.net/detail/BIM-833476
Modern Language Association (MLA)
Ali, Hazim Ibrahim& Sharif, Zayn M.. Full state feedback H2 and h-infinity controllers design for a two wheeled inverted pendulum system. Engineering and Technology Journal Vol. 36, no. 10A (2018), pp.1110-1121.
https://search.emarefa.net/detail/BIM-833476
American Medical Association (AMA)
Ali, Hazim Ibrahim& Sharif, Zayn M.. Full state feedback H2 and h-infinity controllers design for a two wheeled inverted pendulum system. Engineering and Technology Journal. 2018. Vol. 36, no. 10A, pp.1110-1121.
https://search.emarefa.net/detail/BIM-833476
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 1120-1121
Record ID
BIM-833476