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All Journal Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Tran-Quoc-Tuan
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Trajectories Tracking Control for Rotary Inverted Pendulum using Backstepping Method Pham, Ha-Gia-Bao; Nguyen, Huy-Khai; Nguyen, Tran-Quoc-Tuan; Nguyen, Van-Dong-Hai; Dao, Ngoc-Quy; Ngo , Van-Quy-Hai; Tran, Thanh-Son; Phan, Hien-Dat; Chu, Gia-Huy; Huynh, Hoang-Tien-Phat
Journal of Fuzzy Systems and Control Vol. 3 No. 1 (2025): Vol. 3, No. 1, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i1.276

Abstract

Rotary inverted pendulum (RIP) is a fundamental yet challenging benchmark system in control engineering due to its nonlinear dynamics, instability, and underactuated nature. This study addresses the problem of trajectory tracking control for RIP, which is critical for ensuring system stability and accurate motion control in various engineering applications. Simulation results demonstrate that the backstepping approach achieves superior performance in terms of tracking accuracy, robustness, and convergence speed compared to traditional methods. The findings emphasize the effectiveness of backstepping in addressing control challenges in nonlinear systems, offering insights for future research in both theoretical advancements and real-world applications.
Co-Authors Chu, Gia-Huy Dao, Ngoc-Quy Huynh, Hoang-Tien-Phat Ngo , Van-Quy-Hai Nguyen, Huy-Khai Nguyen, Van-Dong-Hai Pham, Ha-Gia-Bao Phan, Hien-Dat Tran, Thanh-Son