H/sub infinity / control of an experimental inverted pendulum with dry friction

The H infinity optimal control of an experimental inverted pendulum having a considerable amount of dry friction in the bearings of its supporting carriage is considered. Although the problem is stated in a linear setting, a satisfying H infinity optimal controller is realized by representing the control problem by a linear standard plant incorporating the essential effect of the nonlinear dry friction phenomenon. The resulting controller is applied successfully to an experimental setup, using a digital control system based on a TMS320C25 digital signal processor.<<ETX>>

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