Abstract
AbstractWe present a simple model matching controller for the stabilization of the inverted pendulum cart system, assuming that the pendulum is initialized above the horizontal plane. The control strategy consists of forcing the closed‐loop system to behave as another nonlinear target system with some stability properties. To this end, we solve two matching conditions that allow us to shape a suitable target system. Having satisfied both matching conditions, the stabilizing controller is directly obtained from the proposed target system. The obtained close‐loop system is locally asymptotically exponentially stable, with a very large domain of attraction. Copyright © 2007 John Wiley & Sons, Ltd.
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