Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion

A new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at unstable equilibrium point. The architecture deduced from a trivial conversion of state-feedback that obtained using two-step method. First, based on set cart change variables, slightly modified developed. Then, through judicious combination step reference input internal model and convenient open-loop state estimator above controller. local stability output-based control conducted signature formulas method get simplified conditions. partial single parameter tuning optimal global are for adjusting gains maximize efficiency-based objective function. Numerical simulations first reveal simplicity design method, where assumed be known. an designed equivalent in terms performance efficiency best five-parameter two PID