Stability Analysis of an Inverted Pendulum on a Cart with the Presence of Restoring and Frictional Forces Disturbance using Observer Based and Full State Feedback H2 Controllers

In this paper, the stability control of the inverted pendulum on a cart with a disturbance forces has been done using observer based and full state feedback H2 controllers. The Lagrangian equation has been used to model the system equation of motions and linearized the system to the unstable upward position. Comparison of the system stability has been simulated by comparing the proposed controllers using Matlab/Scripts and a promising results has been analyzed successfully.

Content

Author and article information

Journal

Title: ScienceOpen Preprints

Publisher: ScienceOpen

Publication date (Electronic preprint): 13 October 2020

Affiliations

[1 ] School of Electrical and Computer Engineering

[2 ] Department of mechanical Engineering

Author information

Mustefa Jibril https://orcid.org/0000-0002-3165-2410

Article

DOI: 10.14293/S2199-1006.1.SOR-.PP842Z4.v1

SO-VID: 9d0876b0-fbbf-455d-891e-26858e854a68

License:

This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .

History

Date received : 13 October 2020

Data availability: All data generated or analysed during this study are included in this published article (and its supplementary information files).

ScienceOpen disciplines: Engineering

Keywords: Inverted pendulum on a cart, Observer based controller, Full state feedback H2 controllers