Tracking Control of X-Z Inverted Pendulum with Block Backstepping

As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In tracking control IP, equilibrium point changes with pivot position pendulum. This makes theories have difficulties in realization for The underactuated feature feedback linearization unsuitable to simplify design. With present model there no way realize backstepping paper gives novel state transformation method IP. Through transformation, block can be easily deployed controller design proposed achieve vertical plane. Simulation results certify rightness effectiveness controller.