Stabilization of Triple Inverted Pendulum Using Robust Control Methods

This paper provides a comprehensive analysis of triple inverted pendulum stabilization and introduces three distinct robust control design methodologies. For each control approach, we include detailed algorithmic explanations covering key mathematical formulations such as Lyapunov stability criteria and H-infinity control synthesis. The implementation employs MATLAB functions like 'lqr()' for linear quadratic regulator design and 'hinfsyn()' for H∞ controller synthesis. Our technical annotations systematically break down each method's implementation workflow, including state-space modeling techniques and robustness parameter tuning strategies. The Simulink simulation section demonstrates practical implementation through modular subsystem design, featuring detailed block configurations for sensor integration, controller deployment, and real-time performance monitoring. Simulation workflows incorporate MATLAB scripting for automated parameter sweeping and stability margin verification using 'margin()' and 'step()' functions. The content maintains structural coherence with the original while enhancing technical depth through code-specific implementation details, ensuring clarity for international engineering audiences.