Exact Feedback Linearization Technique Applied to an Inverted Pendulum Coupled to a DC Motor

This paper presents the methodology for implementing the Exact Feedback Linearization (EFL) technique in an inverted pendulum coupled to a DC motor. This technique enables the control of a nonlinear system while preserving the original dynamics, in contrast to conventional linearization methods. A nonlinear feedback control is proposed that allows a smooth switch, which would protect the DC motor from mechanical damage caused by sudden rotation changes. A comparison is made with the LQR control to evaluate the performance of the proposed control. The steady state RMS errors are calculated. System dynamics are simulated using Matlab software.