Performance Evaluation of 2-Degrees-of-Freedom 2-Periodic Controller: Stabilization of Cart-Inverted Pendulum System

It has been observed in literature that 2-periodic controllers have the capability of relocating loop-zeros and thus resulting in improved loop robustness while compensating an unstable, Linear Discrete-Time-Invariant (LDTI), Non-Minimum-Phase (NMP) plant. In this work a 2-Degrees-of-Freedom (2-DOF) 2-periodic control scheme has been employed to stabilize a Cart-Inverted Pendulum System (CIPS) and its advantages over 1-DOF, 2-periodic control scheme are studied.