Robust Control - Inverted Pendolum on a Cart

Welcome in this repository! This repository contains the MATLAB code and the full analysis of the inverted pendolum on a cart as well as three control systems.

What you can find here

Here a brief description of the content:

• Robust Control of Inverted Pendulum on a cart.pdf: full analysis of the inverted pendolum on a cart, with mechanical, transfer function and state space modelling. It is also proposed an introduction to robust control theory as well as three different controllers:
  • H2 Control with Polytopic Uncertainties
  • H2 and H\inf Norm Bounded Control
  • H2 Control with Polytopic Uncertainties via LMI
• RC1_H2Nominale.m: MATLAB file - H2 controller with nominal values
• RC2_H2_NormBoundedUncertainty.m: MATLAB file - H2 norm bounded controller with uncertainties
• RC2_HInf_NormBoundedUncertainty.m: MATLAB file - H\inf norm bounded controller with uncertainties
• RC3_H2_LMI.m: MATLAB file - H2 controller with Polytopic Uncertainties via LMI

Authors

• Nicola Massarenti

License

This project is licensed under the MIT License - see the LICENSE.md file for details.