Control of the Furuta pendulum based on a linear differential flatness approach

In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectory problems; a direct pole placement approach, a hierarchical high-gain approach and generalized proportional integral (GPI) approach, based only on measured inputs and outputs.