Practical design and control of a novel inverted pendulum

This paper investigates the design and control of a novel inverted pendulum. First, the structure of the inverted pendulum is presented, and its mathematical model is derived using Euler-Lagrange´s equations. Using a transformed model, a nonlinear control scheme is applied to this new inverted pendulum. The non-linear control scheme is based on the well-known backstepping design approach to obtain a nonlinear controller that is suitable for both regulation and tracking tasks. Furthermore, the control scheme is practically implemented and compared in this inverted pendulum system in order to investigate its effectiveness.