H 00 CONTROLLED INVERTED PENDULUM

Abstract

The report consists of controlling the Inverted Pcndulum(IP) system which is one of the most diflicult system in the field of control engineering. Inverted pendulum is an unstable and non linear system. The objective of this work is to stabilise this non linear system by the use of H,, control technique. He,, technique is a breakthrough in the field of control problem which provides feasible algorithms in finding the optimal controllers The optimisation is a frequency domain approach and the controller obtained is robust. This technique also provides insight in the weighting function selection. This controlling provides approach in optimising input and output weighting function. Satisfactory results are obtained with a decrease in rise and settling time of the system and making the system balance. The results A obtained by controlling inverted pendulum by H. controller are compared with the conventional PID controlled inverted pendulum.