Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum

In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H-infinity disturbance attenuation problem and then transformed into solving linear matrix inequalities. The performance of the proposed controller is evaluated through simulation for linear and nonlinear cases. It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum.

Automated summary

In this study, a control strategy using a control moment gyroscope as an actuator is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point while maintaining the gimbal angle as small as possible. The effectiveness of the proposed state-feedback control strategy is evaluated through simulation for both linear and nonlinear cases. It is shown that the controller effectively stabilizes the inverted pendulum.