Stability Analysis of an Inverted Pendulum on a Cart with the Presence of Restoring and Frictional Forces Disturbance using Observer Based and Full State Feedback H2 Controllers

In this paper, the stability control of the inverted pendulum on a cart with a disturbance forces has been done using observer based and full state feedback H2 controllers. The Lagrangian equation has been used to model the system equation of motions and linearized the system to the unstable upward position. Comparison of the system stability has been simulated by comparing the proposed controllers using Matlab/Scripts and a promising results has been analyzed successfully.