Nonlinear Control of an Input-Constrained Inverted Pendulum

입력제약을 고려한 도립진자의 비선형 제어

The aim of this paper is to propose a nonlinear controller for a single cart-type inverted pendulum using energy-based control scheme. Using a nonlinear model relating the angular position and velocity to the control input and a nonlinear controller is designed to regulate the angular position and velocity in the presence of input constraints. It is proved that the angular position and velocity converge to zero.