Closed-loop tracking control of a pendulum-driven cart-pole underactuated system

Hongnian Yu, Yang Liu* (Corresponding Author), Taicheng Yang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

47 Citations (Scopus)


This paper investigates a new modelling and control issue: the tracking control
problem of underactuated dynamic systems by using a special example – a pendulum-driven cart-pole system. A dynamic model of a pendulum-driven cart-pole system is firstly presented. Then, a six-step motion strategy of the pendulum-driven cart-pole system is proposed. After that, a desired profile of the pendulum joint velocity is developed based on the proposed sixstep motion strategy. The desired joint position and acceleration can be computed using the desired joint velocity profile. A closed-loop control approach is proposed using the partial feedback linearization technique. Finally, extensive simulation studies are conducted to demonstrate the proposed approaches.
Original languageEnglish
Pages (from-to)109-125
Number of pages17
JournalProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Issue number2
Publication statusPublished - 1 Mar 2008


  • underactuated dynamic systems
  • tracking control
  • stabilization
  • inverted pendulum


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