The design for the controller of the linear inverted pendulum based on backstepping

Inverted pendulum is an ideal model to verify a new control theory or methods as an absolute instability, high, variable and high coupling typical nonlinear system. There are many researches on the control methods of inverted pendulum. Using Backstepping for the controller design of the linear Inverted Pendulum is presented in detail in this paper. This method does not need linearizing the system, and can design the controller directly and recursively, meanwhile, the designed controller remains the useful nonlinear terms and can be closer to the reality with strong Robustness. The experimental platform simulation demonstrated the method has the characteristics of fast stabilization time, great anti-interference capabilities and good control effects.