Output tracking control of inverted cart-pendulum using input-output linearization and predictive contol

The inverted cart-pendulum provides interesting examples of nonlinear non-minimum phase systems. In this paper, as a matter of fact, a new approach to the output control for the inverted cart-pendulum is introduced. First, the inverted cart pendulum model is approximated by another singular perturbed system: the boundary-layer subsystem and the reduced subsystem. For the boundary-layer subsystem, the input output linearization is used. But the reduced subsystem is stabilized by the predictive control. After all, the simulation results are presented to demonstrate the efficiency of the proposed approach.