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.
|Pages (from-to)||145 - 162|
|Publication status||Published - 2005|