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In this study a new combination of nonlinear backstepping scheme with off-line fuzzy system is presented for controlling a rotary inverted pendulum system to achieve better performance in nonlinear controller. The inverted pendulum, a popular mechatronic application, exists in many different forms. The common thread among these systems is their goal: to balance a link on end using feedback control. The purpose of this study is to design a stabilizing controller that balances the inverted pendulum in the up-right position.
Date of Conference: 25-28 Nov. 2007