INPUT-STATE LINEARIZATION OF A ROTARY INVERTED PENDULUM

The aim of this paper is to design a nonlinear controller for the rotary inverted pendulum system using the input-state linearization method. The system is linearized, and the conditions necessary for the system to be lin-earizable are discussed. The range of the equilibriums of the system is also investigated. Further, after the system is linearized, the linear servo control-lers are designed based on the pole-placement scheme to control the output tracking problem. The performance of the controller is studied with different system parameters. The computer simulations demonstrate that the controller can effectively track the reference inputs