Stabilizing Control of Flexible Inverted Pendulum by Means of Ha Control

Hidekazu Nishimura, Osamu Ohnuki, Takayoshi Totani, Kenzo Nonami

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This study shows that the stabilizing and positioning control of a flexible inverted pendulum of which the pivot is mounted on a cart is experimentally possible by means of Hs control theory. Since the control system has an eigenvalue of zero, the design method of Hs control utilizing a settling function is applied, and one controller is designed with consideration of the rigid and the flexible first modes and another is designed neglecting all flexible modes. By numerical calculations and experiments, we have investigated the positioning control characteristics and the robust stability against disturbance to the pendulum of each controller, and it has been made clear that the robust stability of the controller designed considering the flexible first mode is superior to the one designed neglecting all flexible modes.

Original languageEnglish
Pages (from-to)2701-2706
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Issue number565
Publication statusPublished - 1993
Externally publishedYes


  • Flexible Inverted Pendulum
  • H Control
  • Positioning Control
  • Robust Control
  • Spillover
  • Stability
  • Vibration Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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