Nonlinear Design for Inverted Pendulum using Backstepping Control Technique

Backstepping control technique is a Lyapunov based nonlinear robust technique which is applicable to only strict feedback system. Backstepping technique has been applied on linear inverted pendulum which is under actuated system. Inverted pendulum is swung from its pendant position and stabilized at its upright position. Swing up is achieved by nonlinear backstepping controller but the linear inverted pendulum is having unstable zero dynamics which is stabilized linear backstepping controller. Linear backstepping controller stabilizes both the angle & position at upright position through integral regulated variable that transformed states of inverted pendulum into a global normal form on which backstepping design is applied and also with help of partial feedback linearization..