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Robust control methodology applied in inverted pendulum system considering polytopic uncertainty.

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Title: Robust control methodology applied in inverted pendulum system considering polytopic uncertainty.
Authors: Barreda, Adrian EG1 (AUTHOR), Medeiros, Renan LP1,2 (AUTHOR) renanlandau@ufam.edu.br, Filho, João EC1,2 (AUTHOR), Ayres Jr, Florindo AC1,2 (AUTHOR), Silva, Luiz ES1,2 (AUTHOR), Lucena Jr, Vicente F1,3 (AUTHOR)
Source: Transactions of the Institute of Measurement & Control. Jul2026, Vol. 48 Issue 11, p2724-2736. 13p.
Subjects: Robust control, Inverted pendulum (Control theory), Linear matrix inequalities, Robust stability analysis, Stability theory, Cascade control
Abstract: Inverted pendulum systems are used in the academic world due to their numerous applications in industrial and control engineering that are used as a benchmark, e.g., modern robots and others. These systems investigate several challenges, such as stability analysis and control design, focusing on robust stability and performance when considering polytopic uncertainties. This paper proposes a robust control methodology considering polytopic uncertainties in an inverted pendulum tracking problem. The proposed method combines the cascade control structure and the LMI approach with polynomial uncertainty theory. The proposed methodology consists of the inner loop design based on LMI theory. Then, the outer control loop is based on Kharitonov's theorem to ensure robust stability and performance under parametric uncertainties. The proposed methodology is compared with the other three classic control techniques: LQR, PID+LQR, and robust tracking and disturbance rejection (RTDR)). Many simulations and experimental tests showed that the proposed methodology outperforms the other classic approaches when the system is subject to parametric variations (i.e., rod length and mass variations), ratifying the proposed method's robustness, effectiveness, and accuracy. [ABSTRACT FROM AUTHOR]
Copyright of Transactions of the Institute of Measurement & Control is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
An: 194895372
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PubTypeId: academicJournal
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  Data: Robust control methodology applied in inverted pendulum system considering polytopic uncertainty.
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  Data: <searchLink fieldCode="JN" term="%22Transactions+of+the+Institute+of+Measurement+%26+Control%22">Transactions of the Institute of Measurement & Control</searchLink>. Jul2026, Vol. 48 Issue 11, p2724-2736. 13p.
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  Data: <searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Inverted+pendulum+%28Control+theory%29%22">Inverted pendulum (Control theory)</searchLink><br /><searchLink fieldCode="DE" term="%22Linear+matrix+inequalities%22">Linear matrix inequalities</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+stability+analysis%22">Robust stability analysis</searchLink><br /><searchLink fieldCode="DE" term="%22Stability+theory%22">Stability theory</searchLink><br /><searchLink fieldCode="DE" term="%22Cascade+control%22">Cascade control</searchLink>
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  Data: Inverted pendulum systems are used in the academic world due to their numerous applications in industrial and control engineering that are used as a benchmark, e.g., modern robots and others. These systems investigate several challenges, such as stability analysis and control design, focusing on robust stability and performance when considering polytopic uncertainties. This paper proposes a robust control methodology considering polytopic uncertainties in an inverted pendulum tracking problem. The proposed method combines the cascade control structure and the LMI approach with polynomial uncertainty theory. The proposed methodology consists of the inner loop design based on LMI theory. Then, the outer control loop is based on Kharitonov's theorem to ensure robust stability and performance under parametric uncertainties. The proposed methodology is compared with the other three classic control techniques: LQR, PID+LQR, and robust tracking and disturbance rejection (RTDR)). Many simulations and experimental tests showed that the proposed methodology outperforms the other classic approaches when the system is subject to parametric variations (i.e., rod length and mass variations), ratifying the proposed method's robustness, effectiveness, and accuracy. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Transactions of the Institute of Measurement & Control is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1177/01423312251357337
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        Text: English
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        PageCount: 13
        StartPage: 2724
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      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Inverted pendulum (Control theory)
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      – SubjectFull: Linear matrix inequalities
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      – SubjectFull: Robust stability analysis
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      – SubjectFull: Stability theory
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      – SubjectFull: Cascade control
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      – TitleFull: Robust control methodology applied in inverted pendulum system considering polytopic uncertainty.
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            NameFull: Barreda, Adrian EG
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              M: 07
              Text: Jul2026
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              Y: 2026
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