Observing and Stabilizing Control for an Eccentric Inverted Pendulum

Cart-pole is an underactuated system meaning that it has only one actuator to control two degree of freedom. It is more difficult to govern when adding an eccentric mass to the pendulum because the new system has center of mass that the direction from it to pivot is not matching with the direction of the measured tilt angle. This paper focuses on designing control for an eccentric inverted pendulum to stabilize at the vertical position by using the direct Lyapunov and backsteping methods. The simulation illustrates the performance of the designed controllers.