Stabilization of inverted pendulum on a cart in the presence of uncertainties

Joonho Lee, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper presents an output feedback control design to stabilize the inverted pendulum at the upright equilibrium as an extension of our previous work [1]. Compared to our previous work, we add one more time scale between a pendulum angle and angular velocity to reduce a traveled distance of the cart. State feedback control is designed to enable the pendulum to pass through input singularity configurations. Extended High-Gain Observers are used to estimate velocity and acceleration terms while dynamic inversion utilizes the estimates to deal with input coefficient uncertainties and singularity configurations. The proposed control is verified through numerical simulations.

Original languageEnglish
Title of host publicationMultiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857267
Publication statusPublished - 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: 2015 Oct 282015 Oct 30

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015


OtherASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States

Bibliographical note

Publisher Copyright:
© 2015 by ASME.

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering


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