Nonlinear stabilization control of Furuta pendulum only using angle position measurements

Abstract

In this paper, we discuss the stabilization control problem for a nonlinear mechanical system called Furuta pendulum. A new stabilizing control method that only uses the measurements of angle position is developed. This method has three successive steps. First, we present the dynamic equation of Furuta pendulum and change it into an affine nonlinear system by appropriately choosing state variables. Second, we linearize the nonlinear system around the origin and consider the nonlinear higher order term to be system's fictitious disturbance. After that, an idea of equivalent input disturbance is used to design the stabilizing controller for the nonlinear system. The effectiveness of our proposed control strategy is illustrated via a numerical example.