Mustefa  Jibril, Messay  Tadese, Reta  Degefa, 
    Modeling and Simulation of a Horizontally Moving Suspended Mass Pendulum Base using
H∞ Optimal Loop Shaping Controller with First and Second Order Desired Loop Shaping
Functions,
    International Journal of Electrical and Power Engineering,
    Volume 14,Issue 5,
    2020,
    Pages 46-50,
    ISSN 1990-7958,
    ijepe.2020.46.50,
    (https://makhillpublications.co/view-article.php?doi=ijepe.2020.46.50)
    Abstract: In this study, a horizontally moving suspended
mass pendulum base is designed and controlled using
robust control theory. H∞ optimal loop shaping with first
and second order desired loop shaping function
controllers are used to improve the performance of the
system using MATLAB/Simulink Toolbox. Comparison
of the H∞ optimal loop shaping with first and second
order desired loop shaping function controllers for the
proposed system have been done to track the desired
angular position of the pendulum using step and sine
wave input signals and a promising result has been
obtained successfully.
    Keywords: Pendulum;H∞ optimal loop shaping;track