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

Adiguzel F., Yalçın Y.

2nd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT), Kizilcahamam, Turkey, 19 - 21 October 2018, pp.267-272 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Kizilcahamam
  • Country: Turkey
  • Page Numbers: pp.267-272
  • Istanbul Technical 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 discrete-time 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.