Firouz Baktiari Nejad - Professor of Mechanical Engineering Department, Amirkabir University of Technology (Polytechnic of Tehran))
Arastoo Azimi - Ph.D. Candidate of Mechanical Engineering Department, Amirkabir University of Technology)
Mehdi Vahabi - Ph.D. Student of Mechanical Engineering Department, Amirkabir University of Technology

The main goal of this research is to design a controller based on back stepping method to control the cart- pendulum system, which is kind of nonlinear control system that has an unstable equilibrium point. The motion equations of the system are derived based on Lagrange formulation. After derivation the state equations of the system, an appropriate output is chosen so that the system is feedback linearizable. Moreover, a feedback control law is designed based on back stepping algorithm. Finally, the simulation results are presented by considering the initial conditions and uncertainties, at the end of this paper

Back stepping, Cart- pendulum, Equilibrium point, Feedback linearization