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

Sudhir Raj

Keywords

Inverted Pendulums connected with spring, Integral Sliding mode control, H-infinity control

Abstract

Decentralized control is an effective method for stabilization of interconnected systems. The interactions among subsystems are taken as perturbations and matching assumptions become 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-infinity based integral sliding mode control is utilized for stabilization of interconnected systems such as Coupled pendulums. The algebraic Riccati equation is applied to H-infinity state feedback design to consider other constraints on the other singular values. The gains of H-infinity based state feedback control is calculated using Riccati equation. Simulation results show the effectiveness of H-infinity based Integral sliding mode control by considering various uncertainties.

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