DECENTRALIZED CONTROL FOR STABILIZATION OF COUPLED PENDULUMS USING H ∞-BASED INTEGRAL SLIDING MODE CONTROL

Sudhir Raj

Keywords

Inverted pendulums connected with spring, integral sliding modecontrol, H∞ control

Abstract

Decentralized control is an effective method for stabilization of interconnected systems. The interactions among subsystems are taken as perturbations and matching assumptions becomes restrictive. The sliding surface is selected such that the effect of the unmatched perturbation becomes minimum. Integral sliding mode control cancels the matched interconnections starting from the initial phase. Coupled pendulums are a benchmark system to verify the effectiveness of the robust controller. The robustness properties of the H∞-based integral sliding mode control are utilized for stabilization of interconnected systems such as coupled pendulums. The algebraic Riccati equation is applied to H∞ state feedback design to consider other constraints in the other singular values. The gains of H∞-based state feedback control is calculated using the Riccati equation. Simulation results show the effectiveness of H∞-based integral sliding mode control by considering various uncertainties.

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