A nonlinear observer for the inverted pendulum

摘要

This paper deals with the design of a nonlinear observer for theinverted pendulum. The observer uses the standard structure of thelinear observer with the linear model replaced by a nonlinear model.Nominal observer gains are determined from a linearised model. Thismodel is also used to find a compromise between robustness andperformance. The stability of the observer is then discussed andconditions for the stability of the observer are given. The results areillustrated by simulation and experiments on a real pendulum