Reduced order H/sub /spl infin// compensator design for an inverted pendulum control problem

A new method for dealing with one of the nonstandard cases of reduced order H/sub /spl infin// design is fully developed for a singular control problem. A reduced order H/sub /spl infin// controller is designed for an inverted pendulum on a cart where the output measurement is disturbance free. The results are compared to a full order compensator.