كنترل سيستم غيرخطي آونگ وارونه

Control Nonlinear Inverted Pendulum System

One of the systems that be used in order to prove efficiency of control methods with its easy structure, is inverted pendulum system. The object of controlling this system is equilibrium of pendulum with limited states. For this purpose, different methods are used. One of the best methods is fuzzy controller with defuzzy supervisory controller. In almost methods, limitation of initial conditions is important problem. In this paper for solving this problem, a new method is proposed. Because of similarity to back stepping method but its more applications than last method, we named this method to Generalized Back stepping Method.