μ-Synthesis controller for robust stabilization of cart inverted pendulum system

Cart Inverted pendulum is highly nonlinear unstable system having right half plane pole and zero. The situation worsens when the parameter of the system undergoes perturbation as well as disturbances are present in the system. Hence the aim of present work is to keep the pendulum at vertical up position about equilibrium point on a moving cart even in the presence of parameter variation and disturbances. This paper addresses the design of μ-synthesis controller for cart inverted pendulum system. The mixed μ-controller is chosen since it is able to cope up with structured uncertainty due to plant parameter variation and exogenous disturbances. The simulation results are presented to hold the pendulum at its upper equilibrium point by the μ-synthesis controller in the presence of uncertainties and disturbances.