H_∞ state feedback design based on LQR robust control for inverted pendulum system

Abstract

This paper proposes a robust H∞ design method for the disturbance suppression of an inverted pendulum. Based on the LQR method, the H∞ state feedback design, which has good robustness and disturbance rejection, is provided. The H∞ state feedback problem is ultimately converted into the resolution of the Riccati equation. The key to solving the Riccati equation is how to determine the weighted matrix in the H∞ controller. This paper takes the effective bandwidth of the system, the requirements of high properties at low-frequency ranges, and the coordination between variables and other aspects into consideration, which successfully solves the many parameters’ selection problem. And the physical significance is clear. The outcomes indicate that the advanced H∞ state feedback control scheme, rooted in LQR robustness, significantly enhances the system’s capability to mitigate external interference.