Abstract
Mobile inverted pendulums are expected to be applied to personal mobility and robots which is used in near human living space. Although this mobility always need to be stabilized, main approaches to control it has been methods based on a linearized model or feedback linearization. In this study, interconnection and damping assignment passivity-based control (IDA-PBC) is applied and a nonlinear controller is constructed. Usable methods to select controller parameters and estimate the domain of attraction are also introduced. Simulation results showed that the IDA-PBC controller performs fast responses theoretically ensuring sufficient domain of attraction.
