Stabilizing Control for an Inverted Eccentric Pendulum System

When adding an eccentric mass to the pendulum of the cart and pole system, the direction passing through the pivot point and the new center of mass is not coincide with the direction of the pendulum. This is meaning that the vertical position of the pendulum is not the equilibrium position of the new system. This article introduces a designed controller for an eccentric inverted pendulum system based on energy approach via the direct Lyapunov and backstepping control design method. The simulation illustrates performance of the designed controller.