Mustefa Jibril 
Robust Control Theory Based Performance Investigation Of An Inverted Pendulum System Using Simulink [PDF ebook] 

Academic Paper from the year 2020 in the subject Computer Science — Software, , language: English, abstract: In this paper, the performance of inverted pendulum have been Investigated using robust control theory. The robust controllers
used in this paper are H∞ Loop Shaping Design Using Glover Mc Farlane Method and mixed H∞ Loop Shaping Controllers.
The mathematical model of Inverted Pendulum, a DC motor, Cart and Cart driving mechanism have been done successfully.
Comparison of an inverted pendulum with H∞ Loop Shaping Design Using Glover Mc Farlane Method and H∞ Loop Shaping
Controllers for a control target deviation of an angle from vertical of the inverted pendulum using two input signals (step and
impulse). The simulation result shows that the inverted pendulum with mixed H∞ Loop Shaping Controller to have a small rise
time, settling time and percentage overshoot in the step response and having a good response in the impulse response too.
Finally the inverted pendulum with mixed H∞ Loop Shaping Controller shows the best performance in the overall simulation
result.