Tracking Control of an Inverted Pendulum Using Computed Feedback Linearization Technique

The paper presents an output tracking technique for a balanced rod inverted pendulum based on computed feedback linearization. For any given trajectory of pendulum, which is the output, the trajectory of rod position, which is the internal state, is determined such that the system is input state linearizable without state transformation. Both output and state are used to stabilize and also linearize the system. Once the system is linear, the trajectory control effort can be superimposed such that the system tracks the trajectory. The trajectory control effort is determined from the inverse of the feedback linearized system and thus bounded. In this way, the tracking error is asymptotically decreasing. Both simulation and experiment based on the ECP 505 balanced rod inverted pendulum are used to demonstrate and verify the technique