Feedback linearization control of the Furuta pendulum

Abstract

The purpose of this chapter is to introduce a new trajectory tracking controller applied to the Furuta pendulum. The problem consists in the design of a controller such that the arm tracks a desired time-varying trajectory while the pendulum remains regulated at the upward position. For this problem, a controller is derived from the input–output feedback linearization technique and is designed to keep the error trajectories uniformly ultimately bounded (UUB).