Stabilizing control of inverted pendulum via interlaced backstepping and forwarding method

This paper presents a stabilizing controller by combining Saeki´s method with the backstepping control method. Regarding the acceleration of the cart as the input of the pendulum, we design the adaptive backstepping control law for the pendulum. Moreover, the stabilizing controller for the cart is derived by using the sliding mode and the forwarding technique. Finally, the MATLAB simulations are performed to check the robustness of the proposed control laws.