پروژه متلب باند گراف کنترل پاندول معکوس

The paper presents the Bond Graph modelling and the feedback linearizing technique applied to an inverted pendulum system. First, the Bond Graph model of the inverted pendulum system is achieved. Next, by using the feedback linearizing technique, a nonlinear control law is obtained. This nonlinear control method provides an alternative solution to existing classical linear methods. For the implementation of the nonlinear control law we supposed that all states are measurable. Some numerical simulation results for the controlled system are also presented.