Optimized multiobjective H∞ control applied to inverted pendulum

Hamid Reza Pourshaghaghi, Mohammad Reza Jahed-Motlagh, Allahyar Montazer, Javad Poshtan, Ali Akbar Jalali

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

Abstract

This paper introduces several practical aspects of designing multiobjective problems such as H∞ controllers. We present a procedure to obtain a controller with two degree of freedom (DOF). First we stabilize the nominal system by a conventional controller like LQR. We use genetic algorithm to optimize LQR controller, too. This part of our controller leads to low cost of control input effort, and then we enforce other objectives in the framework of LMI optimization. This procedure leads to less energy consumption in comparison with using LMI methods alone. We design and implement this approach in an inverted pendulum as one of the most commonly nonlinear studied systems in the control area and can be considered as a benchmark for evaluating controlling methodologies.

Original languageEnglish
Title of host publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages938-943
Number of pages6
ISBN (Print)1-4244-0783-4 , 9781424407835
DOIs
Publication statusPublished - 1 Dec 2007
Externally publishedYes
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan
Duration: 5 Nov 20078 Nov 2007

Conference

Conference33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan
CityTaipei
Period5/11/078/11/07

Keywords

  • Genetic algorithm
  • H∞ performance
  • Linear quadratic regulator
  • LMI optimization
  • Multiobjective control inverted pendulum

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  • Cite this

    Pourshaghaghi, H. R., Jahed-Motlagh, M. R., Montazer, A., Poshtan, J., & Jalali, A. A. (2007). Optimized multiobjective H∞ control applied to inverted pendulum. In Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON (pp. 938-943). [4460319] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IECON.2007.4460319