Tracking Control for Cart-Pole Pendulum System Based on Fully Actuated System Theory

This paper presents a tracking control of a cart-pole pendulum system based on a fully actuated system (FAS) approach. The dynamics of the cart-pole pendulum system is first simplified as a second-order FAS model, with which the control law can be synthesized for the desired tracking error dynamics in a very simple and straightforward way. The eigenstructure of the closed-loop system can be assigned arbitrarily using a parametric design approach, and the closed-loop system has been established. Compared to the linearization-based pole placement method, the proposed framework performs better in simulation experiments conducted on the cart-pole pendulum system. In the experiment, the effectiveness of the proposed method was validated on pratical systems.