Control design using backstepping technique for a cart-inverted pendulum system

Tran Thien Dung, Nguyen Nam Trung, Nguyen Van Lanh

The cart-inverted pendulum system is one of the classical experimental systems that fully converges the complex properties of nonlinear control problems. It represents a class of real world systems such as two-wheeled mobile robots, pendubots, missile launchers and many more. The problems associated with it are always challenging topics in the field of control systems. This paper presents a novel technique to control this system stabilizing at a vertical upright position, its unstable equilibrium point. Simulation and experimental results will show a better performance of the proposed controller in comparison with Quadratic Optimal Regulator method under disturbance and change in mass.

https://dx.doi.org/10.31873/IJEAS.6.1.23