H-infinity Output Feedback Control for Double Inverted Pendulum System

In this implementation, the author describes the control algorithm and tools employed for the double inverted pendulum system. Specifically, the solution utilizes MATLAB's built-in Linear Matrix Inequality (LMI) functions to design an H-infinity output feedback controller. The implementation likely involves key functions such as hinfsyn or similar robust control tools from MATLAB's Control System Toolbox, which solve the H-infinity optimization problem through LMI formulations. This approach helps researchers better understand system dynamic behavior and enables more precise control under uncertainty. The algorithm works by formulating performance specifications as LMI constraints and solving for controller parameters that satisfy both stability and performance requirements. Future research could further explore applications of this control methodology and investigate its performance and applicability across different dynamic systems. The implementation demonstrates practical application of robust control theory using standard computational tools.