Discrete optimal H2 controller for Inverted Pendulum System

This paper presents the designing of the digital controller compare with analog controller for inverted pendulum system. The digital controller that presented is discrete optimal H
₂
controller by discretizing plant then applied it with digital controller design technique, as DLQR, DLQE and DLQG follow state-space approach including addition of the quadratic derivatives of state variables term in the usual standard performance index for linear quadratic Gaussian optimal control as an extra weighting function to play the role in swing suppressor. The results revealed that the swing of the Pendulumpsilas angle can be decreased at numerous requirements with excellence. How to select the suitable weights for control is also suggested.