DESIGN OF H CONTROLLOR FOR INVERTED PENDULUM

Abstract

Although classical control is well developed and has many method of design and analysis. But it applicable for Linear Time Invariant (LTI) Single-input and Single-output system (SISO) only. With increasing complexity of our system, it has become very important to design a control approach which can satisfy many conflicting requirements, at the same time can make system robust stable. H 0 control technique is one such controller which can suffice for all requirements. In this dissertation work a sincere attempt to study H control technique has been done. Many approaches for design and analysis of H control have been discussed. Inverted pendulum 1 with cart has been taken as plant which is nonlinear unstable system. H..1 controller for inverted pendulum has been designed and its performance has been verified using Matlab.