Modeling and design of an observer-based robust controller for a low-cost inverted pendulum based on the H∞ approach

The inverted pendulum is a mechanical system with a simple configuration that carries a non-linear, unstable nature widely used in control theory as a benchmark for research. The current research presents the modeling of a low-cost commercially available inverted pendulum and the design of a robust state-feedback controller and a robust observer, following the H
∞
principle and using a low-cost commercially available inverted pendulum system as a reference. Simulated results compare the performance of the designed controller and observer with a conventional LQR controller and observer.