In this chapter, we apply the methods of the previous chapters to a series of classical control problems. The first one is the inverted pendulum, which is considered in almost every textbook on control. As for all the other examples, we start with a rather careful analysis of the plant dynamics. Then an LQ and an LQG controller are designed. The latter controller turns out to be not robust and the robustness properties are then improved by applying the LTR procedure.
KeywordsLateral Motion Step Response Roll Angle Inverted Pendulum Disturbance Rejection
Unable to display preview. Download preview PDF.