LPV controller synthesis for the rotary inverted pendulum

Abstract

Linear parameter varying (LPV) controller design for nonlinear systems is mostly considered as challenging. Moreover, the available methods and tools suggested in the literature are scarce and not well tested on physical systems. In this thesis, the design of the LPV controller for the Rotary Inverted Pendulum (RIP) is presented. Starting from a linear fractional transformation structure (LFT) of the LPV plant, which is obtained by nonlinear dynamical equations of the RIP, controller synthesis Linear Matrix Inequality (LMI) conditions are developed. By involving LMIs, based on LPV synthesis theory, the controller design procedure is performed. Additionally, the designed LPV controller performance is evaluated by the provided simulation and experimental results for di erent conditions.|Keywords : Control systems, Non-linear equations, Nonlinear systems, Robust control, Control engineering, Control theory, Pendulum system