Nonlinear Control Design for Linear Inverted Pendulum System using Exact Feedback Linearization
نویسندگان
چکیده
Exact feedback linearization converts any system into appropriate form such that the controller design becomes convenient for the system. In this technique, control algorithm is developed based on exact feedback linearization through energy control. This approach is applicable to under actuated in which single control input, acceleration of cart, controlled the angle and position of cart. This technique provides simple solution based on Exact Feedback Linearization but saturation of control signal which causes problem in controller design of LIP which can be alleviated by introduction of mechanism of angle reference switching.
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