Discrete-time Backstepping Control for Cart-Pendulum System with Disturbance Attenuation via I&I Disturbance Estimation

ADIGÜZEL F., Yalçın Y.

2nd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT'2018), Ankara, Turkey, 19 - 21 October 2018, pp.1-6

  • Publication Type: Conference Paper / Full Text
  • City: Ankara
  • Country: Turkey
  • Page Numbers: pp.1-6
  • Istanbul University Affiliated: Yes


In this study, the stabilization of cart-pendulum system with a discrete-time backstepping controller and the attenuation of the disturbance affecting on the cart are considered. In
order to enable discrete-time backstepping design discrete-time partial feedback linearization performed and a novel discretetime coordinate transformation is proposed. Before construction of backstepping controller, a nonlinear disturbance estimator
design is proposed with Immersion and Invariance approach in the discrete-time setting. The estimated disturbance values used in the partial feedback linearization and construction of backstepping controller. The performances of proposed algorithms are
tested by simulations.