Fictitious Reference Iterative Tuning for state feedback control of inverted pendulum with inertia rotor

In this paper, an application of Fictitious Reference Iterative Tuning (FRIT) to single-input multivariable systems is studied. Although the FRIT was proposed to tune PID controllers for single-input single-output systems, the FRIT is able to tune the state feedback gain for single-input multivariable systems. It is shown that the state feedback gain of an inverted pendulum with an inertia rotor can be tuned by the FRIT appropriately through experiments. In addition, the stability criterion for the state feedback gain tuned by the FRIT is discussed.