A partial feedback linearization control of inverted pendulum by using nonlinear additional input

비선형 추가입력을 이용한 도립 진자의 부분 궤환 선형화 제어기 설계

This paper proposes a new nonlinear controller to swing-up an inverted pendulum system mounted on a car. This controller considers not only the pendulum but also the displacement of the cart. A single-input multi-output system is considered to control the inverted pendulum by using partial feedback linearization and nonlinear additional input. The asymptotic stability of the system is shown by using Lyapunov function. The simulation results show effectiveness of the proposed controller.