### Control of the Unstable System of the Inverted Pendulum Using the Polynomial Approach

**Jiří MARHOLT, František GAZDOŠ, Petr DOSTÁL**

#### Abstract

This paper deals with the design of feedback control system for the unstable nonlinear system of the inverted pendulum using the polynomial approach. The resultant controllers enable stabilization of the pendulum rod in the unstable top position. Spectral factorization technique together with the pole-placement method are utilized for the controller design and robust vs. non-robust setting of the tuning poles is presented and discussed.

#### Keywords

Unstable system, Inverted pendulum PS600, Feedback control, Polynomial approach

Full paper 2011-03-23

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