Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum

Unggul Wasiwitono*, Arif Wahjudi, Ari K. Saputra, Ari K. Yohanes

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H disturbance attenuation problem and then transformed into solving linear matrix inequalities. The performance of the proposed controller is evaluated through simulation for linear and nonlinear cases. It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum.

Original languageEnglish
Pages (from-to)415-425
Number of pages11
JournalJVC/Journal of Vibration and Control
Issue number3-4
Publication statusPublished - Feb 2021


  • Inverted pendulum
  • gyroscope
  • physical constraint
  • state-feedback control


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