Multivariable adaptive model output following control system based on backstepping strategy and its application to parallel inverted pendulums

In this paper, we propose a design method of an output feedback-based adaptive model output following control system based on backstepping strategy for MIMO plants. It is shown that the proposed adaptive control system has robustness with regard to output-dependent disturbances. Further, the proposed adaptive control method is applied to the parallel inverted pendulums with output-dependent disturbances and the effectiveness of the control system is confirmed through experiments.