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

Figure 2

Closed-loop behavior of the state pairs: [𝜃,𝜃̇] and [𝑞,𝑞]̇, respectively, in (a) and (b) when tracking the reference 𝐹_∗(𝑡)=2sin(𝑡/2). (c) depicts the corresponding tracking error.

(a)

(b)

(c)