Real-time study of robustness aspects of periodic controller for cart-inverted pendulum system

A real-time implementation of continuous-time periodic controller is carried out for cart-inverted pendulum system. The robustness (under plant parameter variations), disturbance rejection and noise attenuation properties of the periodic controller have been investigated thoroughly in real-time. The robustness aspects of the periodic controller have been compared with that of a linear quadratic regulator (LQR), and found out to be superior to LQR.