Observer-based online self-tuning position control for linear motion inverted pendulum

Abstract

This study presents an observer-based positioning technique with online self-tuning capability for linear motion inverted pendulum systems. The true system parameter values are not required to implement the control algorithm. The observers for estimating the linear and angular velocities do not use the system parameter information, nominal or otherwise. The online self-tuning mechanism adjusts the closed-loop cut-off frequency during the transient periods. The resulting benefits are verified numerically using MATLAB’s Simulink software.