Stabilization problems for a mobile inverted pendulum are difficult because it is an unstable nonlinear system, and not all the states are available. This study demonstrated a combination of constrained H and loop transfer recovery (LTR) to control a mobile inverted pendulum. First, the linear model of a mobile inverted pendulum is derived via linearization around the operating point. Next, controller gain is calculated by using constrained H theory. And then the Kalman filter is developed. The LTR is then applied to recover the robustness property of the controller. The experiment results that the controller not only can guarantee the satisfaction of constraints with the existence of disturbance but also can stabilize a mobile inverted pendulum; it is verified by the time-domain response. The frequency domain responses show that the LTR method can recover the robustness of the original controller.

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