Demonstrating the Effectiveness of Noncausal LPTV Scaling through Control Experiments with Cart Inverted Pendulum

This paper aims at demonstrating the effectiveness of robust controller synthesis with discrete-time noncausal linear periodically time-varying scaling, through control experiments with a cart inverted pendulum whose pendulum length can be set from three different values. We regard the difference in the pendulum length as the uncertainty, construct a generalized plant suitable for our synthesis problem, and design a single LPTV robust performance controller independent of the pendulum length. The control experiments confirm a theoretical advantage of increasing the period of the controller and demonstrate the effectiveness of the noncausal LPTV scaling technique.