Angle and Position Control of Inverted Pendulum on a Cart Using Partial Feedback Linearization

  • Yeom, Dong-Hae (School of Electrical Engineering and Computer Science, Seoul National University) ;
  • Choi, Jin-Young (School of Electrical Engineering and Computer Science, Seoul National University)
  • Published : 2003.10.22

Abstract

In this paper, we propose a controller for the position of a cart and the angle of a pendulum. To achieve both purposes simultaneously, we divide the system into the dominant subsystem and the dominated one after partial feedback linearization. The proposed controller is composed of a nonlinear controller stabilizing the dominant subsystem and a linear quadratic controller. Using the proposed controller, the controllable region is increased by the nonlinear control part and the control input minimized by the linear control part (LQR).

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