Robustness Teaching By Inverted Pendulum Designed by Coefficient Diagram Method

Inverted pendulum is very effective tool in control education. A low cost inverted pendulum was presented in ACE94 (Manabe, 1994). This system was later presented in several workshops in various universities, and several students wrote master's thesis on the subject. With these experiences, it was later found that the system is a very good example of robust control design. Robust control design has developed over various mathematical concepts and tools. However practical robust control should be more technology oriented rather than theory. This paper will focus on various robustness considerations in the design of the low-cost inverted pendulum in order to clarify true meaning of robust control design