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∞ 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 restric- tive. 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 ini- tial 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 stabi- lization 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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