Adaptive backstepping control design for stabilization of inverted pendulum

In this paper, a novel Adaptive control technique is proposed to stabilize the linear inverted pendulum at upright position. Adaptive Backstepping is a Lyapunov Based robust control technique in which a feedback control law is designed to control plant and achieved required specification such as robustness and stability of system. Adaptive Backstepping provides a systematic tool to design a controller and also deal with parametric variation and un model dynamics. Adaptive Backstepping technique has been applied on linear inverted pendulum which is not in proper strict feedback system and it is having unstable zero dynamics at stabilization point. Adaptive backstepping approach is applied on inverted pendulum with help of integral regulated variable which is nothing but axis transformation to stabilize pendulum at its upright position.