Free rotary inverted pendulum script

These M-files should be used in the environment of MATLAB, version 7.1, Service Pack 3, together with the Robust Control Toolbox, version 3.0 and Control System Toolbox, version 6.2.

List of the files:

1. olp_mds.m Creates model of the uncertain open loop system
2. hin_mds.m Design of Hinf controller
3. lsh_mds.m Design of Hinf loop shaping controller
4. ms_mds.m Design of mu-controller
5. red_mds.m Obtains controller of 4th order
6. rob_mds.m Robust stability analysis
7. nrp_mds.m Nominal performance and robust performance analysis
8. wcp_mds.m Determination of the worst case performance
9. frs_mds.m Frequency responses of the closed loop system with nominal parameters
10. clp_mds.m Transient responses of the closed loop system with nominal parameters
11. pfr_mds.m Frequency responses of the uncertain plant models
12. pcf_mds.m Bode plot of the uncertain closed loop system
13. sen_mds.m Sensitivity function of the closed loop system
14. ppf_mds.m Singular values of the perturbed performance
15. mcs_mds.m Transient responses for random values of the uncertain parameters
16. kf_mds.m Frequency responses of the three controllers
17. clf_mds.m Frequency responses of the three closed loop systems
18. prf_mds.m Nominal performance of the three closed loop systems
19. rbs_mds.m Robust stability of the three closed loop systems
20. rbp_mds.m Robust performance of the three closed loop systems
21. mod_mds.m Creates the uncertainty system model
22. wts_mds.m Sets the performance weighting functions
23. sim_mds.m Creates the simulation model of the closed loop system

Requirements:

• MATLAB Release: R14SP3
• Control System Toolbox
• Robust Control Toolbox