Design of Adaptive Observer-Based Backstepping Control of Cart-Pole Pendulum System

This paper aims to design and develop backstepping control algorithm based on an adaptive observer for under-actuated system. Two design algorithms have been developed; one for the adaptive observer and other for backstepping control. In this work, the cart-pole pendulum system is considered as an under-actuated system. The stability analysis of adaptive observer-based backstepping control has been proved using the Lyapunov method. The simulated results based on MATLAB environment verified the effectiveness and performance of the observer-backstepping controlled system for the suggested under-actuated system.