Stabilization of a Cart-Inverted Pendulum system using a 2-periodic controller: Simulation results

Abstract

Robust compensation in the continuous domain using high frequency periodic controllers was proposed in [6] and its application to Cart-Inverted Pendulum system was demonstrated in [7]. Again, a method for robust compensation in discrete domain using 2-periodic controllers has been proposed in [11]. In this paper this 2-periodic controller is applied for robust compensation of the Cart-Inverted Pendulum system. The improvements in results (relative to linear-discrete-time-invariant (LDTI) controllers) are compared in simulation with the same obtained in [7].