An improved backstepping design for the control of an underactuated inverted pendulum

Yu Sheng Lu, Hua Hsu Chiu, Shu Fen Lien

Research output: Contribution to journalArticle

9 Citations (Scopus)


This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system's performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)865-873
Number of pages9
JournalJournal of Mechanical Science and Technology
Issue number3
Publication statusPublished - 2013 Apr 1



  • Backstepping design
  • Control system
  • Inverted pendulum
  • Underactuated system

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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