H-infinity optimization control for inverted pendulum
倒立摆系统的一种H∞优化控制

The weight functions selection relies largely on devisers' intuition and experience concerning H-infinity loop shaping concepts,so the synthetical performance index of controller is not optimial.And it is difficult to implement high-order controllers obtained by this method.To avoid choosing weight functions by trial-error,a new approach is proposed based on the genetic algorithm.The robust performance and time domain index were considered in objective function.The weight functions could be achieved which optimize the controller.Then,the high-order controller was approximated with PID which can be easily realized in practice.Finally,simulation showed the effectiveness of the presented method for inverted pendulum.