Output feedback stabilization of the inverted pendulum system: a Lyapunov approach

Abstract

In this work, we present an output feedback stabilization method for the Inverted Pendulum Cart (IPC) system around its unstable equilibrium point. The pendulum is initialized in the upper-half plane, and the position of the cart and the pendulum angular positions are always available. Our strategy was accomplished introducing a suitable coordinate change to obtain a nonlinear version of the original system, which is affine in the unmeasured velocities state. This fact allows us to adapt an observer based controller devoted to render the closed-loop system to the origin. The proposed observer based controller was designed using the direct Lyapunov method. This allows estimating the corresponding attraction domain for the whole system, which can be as large or as small as desired. While the corresponding closed-loop stability analysis was made using the LaSalle Invariance Theorem. Convincing numerical simulations were included to show the performance of the closed-loop system.