Mahsa Rahmanian - Computer Department, Science & Research Branch, Islamic Azad University
Mahdi Aliyari Shoorehdeli - Computer Department, Science & Research Branch, Islamic Azad University
Mohammad Teshnehlab - Electrical Department, K. N. Toosi University of Tech

In this study a new combination of nonlinear backstepping scheme with on-line fuzzy system is presented for the rotary inverted pendulum system to achieve better performance in nonlinear controller. The inverted pendulum, a popular mechatronic application, exists in many different forms. The common thread among these systems is their goal: to balance a link on end using feedback control. The purpose of this study is to design a stabilizing controller that balances the inverted pendulum in the upright position.

Nonlinear backstepping, Fuzzy approximator, Rotary inverted pendulum