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Stabilization of Rotary Double Inverted Pendulum using robust gain-scheduling control

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4 Author(s)
Aribowo, A.G. ; Inst. Teknologi Bandung, Bandung ; Nazaruddin, Y.Y. ; Joelianto, E. ; Sutarto, H.Y.

Development and application of linear parameter varying (LPV) controller for stabilization of upright position on rotary double inverted pendulum (RDIP) is presented. A robust gain scheduling approach is used for LPV controller synthesis. The stabilization problem of RDIP should handle three parameter uncertainties and one external disturbance. Lime-response evaluation shows that LPV controller outperform the LQR especially in terms of control performance and RMSE analysis.

Published in:

SICE, 2007 Annual Conference

Date of Conference:

17-20 Sept. 2007