Adaptive backstepping controller design of an inverted pendulum

Abstract

An adaptive backstepping controller is designed to stabilize an inverted pendulum that is mounted on a moveable cart. The adaptive backstepping control synthesis technique results in the design of a controller for non-linear state differential equations with unknown parameters. The powerful adaptive backstepping technique provides a systematic iterative construction of a Lyapunov function and control law for this problem. The adaptive back-stepping technique is used to generate a control law for this system with measured states. The controller design is evaluated for performance, complexity of implementation, and the impact of the system non-linear characteristics on the system stability. The advantages and disadvantages of the control strategy are summarized.