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      Stability Control of Double Inverted Pendulum on a Cart using Full State Feedback with H infinity and H 2 Controllers

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            Abstract

            In this paper a full state feedback control of a double inverted pendulum on a cart (DIPC) are designed and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. A full state feedback control with H infinity and H 2 is addressed. Two approaches are tested: open loop impulse response and a double inverted pendulum on a cart with full state feedback H infinity and H 2 controllers. Simulations reveal superior performance of the double inverted pendulum on a cart with full state feedback H infinity controller.

            Content

            Author and article information

            Journal
            ScienceOpen Preprints
            ScienceOpen
            16 August 2020
            Affiliations
            [1 ] School of Electrical and Computer Engineering
            Article
            10.14293/S2199-1006.1.SOR-.PP0CSDR.v1
            7eedcaa5-814f-4110-9738-e855b57b2964

            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 .


            All data generated or analysed during this study are included in this published article (and its supplementary information files).
            Engineering
            Double inverted pendulum on a cart, Full state feedback H infinity controller, Full state feedback H 2 controller

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