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Issue: Vol. 12 No. 2 (2023): Natural Sciences Issue (Vietnamese)
Section: Natural Sciences Issue (Vietnamese)
Date Published: 14/03/2023
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Feedback linearization control for inverted pendulum

Tu Duc Nguyen1, Thanh Dat Dang2, Van Dong Hai Nguyen1, , Quoc Anh Vo2, Long Nhan Vo2, Ngoc Bao Nguyen2, Thanh Minh Nguyen2, Le Tien Dung Nguyen2
1 Faculty of Electrical Electronics Engineering, Ho Chi Minh city University of Technology and Education, Vietnam
2 Student, Faculty for High Quality Training, Ho Chi Minh city University of Technology and Education, Vietnam

Main Article Content

Abstract

Nonlinear control for SIMO (single input-multi output) system, such as inverted pendulum, is a difficult problem in system stabilizing. In this paper, we build a hardware platform of an inverted pendulum on cart and apply feedback linearization algorithm to control that system. Thence, we create an embedded Matlab program of that algorithm on TMS320F28335 to operate system and prove the stability under experiment. From that, inverted pendulum is kept not to fall and cart fluctuates around the equilibrium point within 10 cm from standard position. Also, a survey about effects of each control parameters is operated to examine the rules of calibration.

Keywords

Inverted pendulum, balancing control, TMS320F28335, feedback linearization

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References

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