A Flatness-Based Controller for the Stabilization of the Inverted Pendulum

Figure 1

Closed-loop response of the flatness-based controller of IPC in a stabilization task, for the three initial conditions: 𝑝₁=[0.4,0.25,0.2,2], 𝑝₂=[0,0,1.2,0.2], 𝑝₃=[1,0,−0.8,0].

(a)

(b)

(c)