Feedback stabilization of the inverted pendulum system via interconnection and damping assignment-passivity based control

Abstract

In this paper, we apply the interconnection and damping assignment passivity-based control (IDA-PBC) design technique to the problem of stabilization of the underactuated mechanical system called inverted pendulum on a cart. The purpose of this paper is to review the fundamental theory of this control system design. Simulation results show the effectiveness of the proposed control system.