Design and Analysis of Controllers for an Double Inverted Pendulum

Hans Henrik Niemann, Jesper Kildegaard Poulsen

Research output: Contribution to journalJournal articleResearchpeer-review


A physical control problem is studied with the H_inf and the SSV methodology. The issues of modelling, uncertainty modelling, performance specification, controller design and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of the movement of the cart. It is shown how these performance limitations will effect the design of H_inf and SSV controllers for the system.
Original languageEnglish
JournalSA Transactions
Issue number1
Pages (from-to)145 - 162
Publication statusPublished - 2005

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