Feedback linearization control for inverted pendulum

Abstract

Nonlinear control for SIMO (single input-multi output) system, such as inverted pendulum, is a difficult problem in system stabilizing. In this paper, we build a hardware platform of an inverted pendulum on cart and apply feedback linearization algorithm to control that system. Thence, we create an embedded Matlab program of that algorithm on TMS320F28335 to operate system and prove the stability under experiment. From that, inverted pendulum is kept not to fall and cart fluctuates around the equilibrium point within 10 cm from standard position. Also, a survey about effects of each control parameters is operated to examine the rules of calibration.