期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2021
卷号：11
期号：6
页码：4907-4921
DOI：10.11591/ijece.v11i6.pp4907-4921
语种：English
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：A new approach based on linear matrix inequality (LMI) technique for stabilizing the inverted pendulum is developed in this article. The unknown states are estimated as well as the system is stabilized simultaneously by employing the observer-based controller. In addition, the impacts of the uncertainties are taken into consideration in this paper. Unlike the previous studies, the uncertainties in this study are unnecessary to satisfy the bounded constraints. These uncertainties will be converted into the unknown input disturbances, and then a disturbance observer-based controller will be synthesized to estimate the information of the unknown states, eliminate completely the effects of the uncertainties, and stabilize inverted pendulum system. With the support of lyapunov methodology, the conditions for constructing the observer and controller under the framework of linear matrix inequalities (LMIs) are derived in main theorems. Finally, the simulations for system with and without uncertainties are exhibited to show the merit and effectiveness of the proposed methods.
