Research Output
Closed-loop tracking control of a pendulum-riven cart-pole underactuated system
  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 six-step 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.

  • Type:


  • Date:

    18 March 2008

  • Publication Status:


  • Publisher

    SAGE Publications

  • DOI:


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  • Funders:

    Historic Funder (pre-Worktribe)


Yu, H., Liu, Y., & Yang, T. (2008). Closed-loop tracking control of a pendulum-riven cart-pole underactuated system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 222(2), 109-125.



underactuated dynamic systems, tracking control, stabilization, inverted pendulum

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