Robust feedback control of the underactuated Inertia Wheel Inverted Pendulum under parametric uncertainties and subject to external disturbances: LMI formulation

• Published in: Journal of the Franklin Institute Vol. 355; no. 18; pp. 9150 - 9191
• Main Authors: Gritli, Hassène, Belghith, Safya
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.12.2018; Elsevier Science Ltd
• Subjects: Computer simulation; Control systems; Controllers; Disturbances; Feedback control; Feedback control systems; Inertia; Linear matrix inequalities; Linear programming; Linearization; Matrix; Matrix methods; Mechanical engineering; Mechanical systems; Parameter uncertainty; Robust control; Robustness (mathematics); Stabilization; Theory of constraints

•A robust feedback stabilization of the Inertia Wheel Inverted Pendulum in its upright position is considered.•The underactuated mechanical system is under state constraints, norm-bounded parametric uncertainties and external disturbances.•We use the S-procedure to develop stability conditions and t...