Robust Controller Design for Two Wheeled Inverted Pendulum System
In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H∞ controller for the stabilized sy...
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Al-Nahrain Journal for Engineering Sciences
2017-06-01
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| Series: | مجلة النهرين للعلوم الهندسية |
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| Online Access: | https://nahje.com/index.php/main/article/view/245 |
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doaj-f2f0b46de1e043d18ad1c77ff4fd8a5c2021-02-02T17:58:32ZengAl-Nahrain Journal for Engineering Sciencesمجلة النهرين للعلوم الهندسية2521-91542521-91622017-06-01203245Robust Controller Design for Two Wheeled Inverted Pendulum SystemHazem I. Ali0Zain AlAbdeen M. Shareef1Control & Systems Engineering Department University of Technology, Baghdad-IraqControl & Systems Engineering Department University of Technology, Baghdad-Iraq In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H∞ controller for the stabilized system is synthesized in the second stage. The mathematical model of the system based on the Newtonian approach is developed. The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications. https://nahje.com/index.php/main/article/view/245Two wheeled inverted pendulumH2 full state feedback controlH∞ controllerRobust controlOptimal control |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Hazem I. Ali Zain AlAbdeen M. Shareef |
| spellingShingle |
Hazem I. Ali Zain AlAbdeen M. Shareef Robust Controller Design for Two Wheeled Inverted Pendulum System مجلة النهرين للعلوم الهندسية Two wheeled inverted pendulum H2 full state feedback control H∞ controller Robust control Optimal control |
| author_facet |
Hazem I. Ali Zain AlAbdeen M. Shareef |
| author_sort |
Hazem I. Ali |
| title |
Robust Controller Design for Two Wheeled Inverted Pendulum System |
| title_short |
Robust Controller Design for Two Wheeled Inverted Pendulum System |
| title_full |
Robust Controller Design for Two Wheeled Inverted Pendulum System |
| title_fullStr |
Robust Controller Design for Two Wheeled Inverted Pendulum System |
| title_full_unstemmed |
Robust Controller Design for Two Wheeled Inverted Pendulum System |
| title_sort |
robust controller design for two wheeled inverted pendulum system |
| publisher |
Al-Nahrain Journal for Engineering Sciences |
| series |
مجلة النهرين للعلوم الهندسية |
| issn |
2521-9154 2521-9162 |
| publishDate |
2017-06-01 |
| description |
In this paper, the design of a robust controller for two wheeled inverted pendulum (TWIP) system is presented. In the first stage of the design, a full state feedback H2 control is designed for stabilizing the inclination of (TWIP) system to upright position. The H∞ controller for the stabilized system is synthesized in the second stage. The mathematical model of the system based on the Newtonian approach is developed. The results verify that the proposed controller can compensate the system parameter uncertainty with a more desirable time response specifications.
|
| topic |
Two wheeled inverted pendulum H2 full state feedback control H∞ controller Robust control Optimal control |
| url |
https://nahje.com/index.php/main/article/view/245 |
| work_keys_str_mv |
AT hazemiali robustcontrollerdesignfortwowheeledinvertedpendulumsystem AT zainalabdeenmshareef robustcontrollerdesignfortwowheeledinvertedpendulumsystem |
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1724292545028030464 |