On decentralized control techniques of interconnected systems-application to a double-parallel inverted pendulum

In this paper, we present three approaches dealing with the decentralized control of interconnected systems. The first one treats the decentralized quadratic optimal control. The second approach concerns the decentralized pole-placement control. The third one, which is our main contribution, focuses on a decentralized stabilization approach that guarantees the stability of the global interconnected system. The decentralized local gains are calculated and formulated via the resolution of linear matrix inequalities (LMIs) problem. A numerical simulation-based comparison of the three methods is performed on an interconnected double-parallel inverted pendulum.