Control of inverted pendulum-wheeled cart systems using nonlinear observers

This paper presents the dynamical modeling and nonlinear controller design of inverted pendulum-wheeled cart systems. The controller is a nonlinear observer-based compensator with linear feedback gains. Using a linearized model, the linear feedback gains were determined according to H_∞ and H₂ control theories. A Luenberger-like nonlinear observer was designed to estimate the unmeasured variables required for the control. The performance of the proposed controller was experimentally verified. It was found that the nonlinear controller is able to stabilize the pendulum in a short period of time. Also the controller with H_∞ gains requires shorter range of variations of pendulum angle and cart displacement than the controller with H₂ gains