Stabilization of the Furuta Pendulum with backlash usingH∞‐LMI technique: experimental validation

The rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively for control performance evaluation in under‐actuated mechanisms. TheH∞control invoking linear matrix inequality (H∞‐LMI) has been also widely employed for linear control design. This paper deals with the feasibility of theH∞‐LMI technique to stabilize the rotary inverted pendulum around its unstable equilibrium point when there exists a backlash nonlinearity in the actuator. So, theH∞‐LMI faces the nonlinear effect in the actuator and the non‐linear pendulum model. Experimental realization of the designedH∞‐LMI control also shows evidence of the good performance of the controller subject to external perturbation.