Nonlinear Controller Design for Inverted Pendulum and Exact Linearization Method

Masami SAEKI

doi:10.9746/sicetr1965.29.491

Transactions of the Society of Instrument and Control Engineers

Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654

Nonlinear Controller Design for Inverted Pendulum and Exact Linearization Method

Masami SAEKI

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Keywords: inverted pendulum, nonlinear control, exact linearization, approximation, state feedback

JOURNAL FREE ACCESS

1993 Volume 29 Issue 4 Pages 491-493

DOI https://doi.org/10.9746/sicetr1965.29.491

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Abstract

Since exact linearization method is not always applicable for systems of order greater than two and an inverted pendulum system is the fourth order, a design method of approximating a control law obtained by exact linearization method is proposed.

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