Motion Control of Inverted Pendulum Using Estimation of Center of Gravity

This paper describes an inverted pendulum system to demonstrate the validity of a new method for estimating of movement of center of gravity. This inverted pendulum has rotatable weight on the tip, and the center of gravity of the inverted pendulum can be moved by swinging the weight on the tip. To estimate the movement of center of gravity, we use a state observer by considering it as a step signal. By numerical simulation and experiment, we confirmed the cart moved to the assigned reference point by using the estimated value.