Design of Input Constrained Triple Inverted Pendulum Controller with H∞ Performance
[Purposes]To solve the stabilization control problem of triple inverted pendulum with control input constraint,an input constrained control strategy with H∞ performance is proposed.[Methods]By us-ing linear matrix inequalities(LMI),the control input constraint problem is transformed into an optimiza-tion problem using LMI to solve the optimization value.A suitable LMI is obtained by Lyapunov stability derivation,and an effective K is obtained by using the LMI toolbox in MATLAB.Furthermore,H∞ perfor-mance index is introduced to make the designed algorithm with control input constraint have H∞ perfor-mance.[Findings]The simulation results show that the control strategy has a good control effect on the complex high-order unstable system with control input constraint.[Conclusions]The control input sig-nal can achieve the stability requirement of the triple inverted pendulum within the given limited range,and the fluctuation of the control input and pendulum rod is less after the introduction of H∞ perfor-mance index.
linear triple inverted pendulumcontrol input constraintlinear matrix inequality(LMI)H∞ performance
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