Smooth bending and stretching of a triple inverted pendulum by H /μ control

K. Kamiya*, A. Ogawa, K. Suzuki, Kenko Uchida

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


This paper focuses on designing control laws to bend and stretch a triple inverted pendulum smoothly. It is difficult to realize bending and stretching with only one controller based on the linearized model at a specific equilibrium point. We propose the method that make the range covered by one linear controller wider and realize the movement by one controller.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Number of pages4
Publication statusPublished - 2004
Externally publishedYes
EventSICE Annual Conference 2004 - Sapporo
Duration: 2004 Aug 42004 Aug 6


OtherSICE Annual Conference 2004


  • μ-synthesis
  • Constant scaling
  • Control
  • H
  • Scheduling

ASJC Scopus subject areas

  • Engineering(all)


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