Robust stabilization of an inverted pendulum using a slow-fast decomposition approach

Abstract In this paper, robust stabilization of an experimental system is considered. This system consists of a pendulum free to rotate 360 degrees that is attached to a cart. The cart can move in one dimension. The linearized model of the system is used and transformed to a linear diagonal form. The system is separated into slow and fast subsystems. The fast dynamics are treated as a disturbance and this is used to design a H ∞ controller for a system with lower order than the original system.

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