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      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

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          Abstract

          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.

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          Author and article information

          Journal
          ScienceOpen Preprints
          ScienceOpen
          13 October 2020
          Affiliations
          [1 ] School of Electrical and Computer Engineering
          [2 ] Department of mechanical Engineering
          Article
          10.14293/S2199-1006.1.SOR-.PP842Z4.v1

          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

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

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