Abstract
This paper deals with an approximate linearization control for the Acrobot using a novel linearization coordinate. The linearization coordinate is systematically determined by solving two first order linear partial differential equations and obtained in analytical form, as an infinite series of the state variables. The resulting system with the approximate linearization control posseses a larger basin of attraction comparing with that of the conventional linear control based on linearly approximated model. The advantage of the proposed control is clearly shown in numerical simulations but experimental results also shows their difference.
