Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Abstract We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we stabilization of an inverted pendulum on a cart using force cart. This system is easy to stabilize with angle feedback. However, position feedback it cannot be stabilized stable and proper compensators. Here, demonstrate that additional compensator parallel feedforward loop, possible such Sensitivity noise seems about three times worse than for situation For completeness, discussion presented parameter choices, robustness, fragility, comparison another control approach.