Robust stabilization of a triple inverted pendulum-cart
A design of a robust computer control system to balance a triple pendulum mounted on a moving cart is considered. The controller is based on a discretetime linear regulator theory implemented via a 'robust' reduced order observer. The use of integral action eliminates the effects of small constant sensor offsets and rail inclinations. The relative stability and disturbance attenuation properties are investigated using frequency response methods. Experimental results are included.