Title :
A combination of backstepping and the feedback linearization for the controller of inverted pendulum
Author :
Yakoub, Z. ; Charfeddine, Maha ; Jouili, Khalil ; Braiek, Naceur Benhadj
Author_Institution :
Lab. des Syst. Avances, Ecole Polytech. de Tunisie, Tunis, Tunisia
Abstract :
In this paper, we suggest a novel technique control of non-minimum phase systems. The very performed developments largely rely on the formalism of the exact input output linearization and the control by backstepping. The performance and efficiency of the presented approach is studied on a nonlinear model of the inverted pendulum. The simulation result demonstrates the effectiveness of the proposed approach.
Keywords :
feedback; nonlinear control systems; pendulums; backstepping; exact input output linearization; feedback linearization; inverted pendulum controller; nonlinear model; nonminimum phase systems; Backstepping; Control systems; Equations; Frequency modulation; Lyapunov methods; Mathematical model; Nonlinear systems; Exact input-output linearization; Lyapunov function; Nonlinear non-minimum phase systems; backstepping;
Conference_Titel :
Systems, Signals & Devices (SSD), 2013 10th International Multi-Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4673-6459-1
Electronic_ISBN :
978-1-4673-6458-4
DOI :
10.1109/SSD.2013.6564123
