Design and analysis of controllers for a double inverted pendulum

Area of Science:

• Control Systems Engineering
• Robotics
• Applied Mathematics

Background:

• Physical control problems require robust methodologies to address system complexities.
• Modeling and uncertainty are critical aspects of controller design.
• The double inverted pendulum on a cart is a standard benchmark for control system evaluation.

Purpose of the Study:

• To investigate the application of H-infinity and micro-control methodologies to a physical control problem.
• To analyze the impact of system limitations on controller design.
• To discuss modeling, uncertainty, performance specification, and implementation aspects.

Main Methods:

• Utilized H-infinity control theory for robust controller design.
• Applied micro-control methodologies for system analysis.
• Conducted a laboratory experiment using a double inverted pendulum on a cart.
• Investigated system limitations including control signal constraints and physical movement restrictions.

Main Results:

• Demonstrated the influence of control signal limitations on controller performance.
• Showcased the effect of cart movement restrictions on system stability and design.
• Provided insights into the practical implementation challenges of advanced control techniques.
• Validated the theoretical controller designs through a physical experiment.

Conclusions:

• System performance limitations significantly affect the design choices for H-infinity and micro-controllers.
• Robust control design must explicitly account for physical constraints.
• The double inverted pendulum experiment provides a valuable platform for studying real-world control challenges.