Verification of ZG controllers for cart path tracking of general IPC model with nonzero link mass

The general inverted pendulum on a cart (termed IPC) model with nonzero link mass is investigated and analyzed for the tracking-control problem solving due to its concise and representative structure. According to the numbers of times of using Zhang dynamics (ZD) and gradient dynamics (GD) methods, novel controllers are designed and analyzed for the tracking control of the IPC model with nonzero link mass, which are thus termed ZG (Zhang gradient) controllers. Note that the ZG controllers are of z2g0 and z2g1 types in the paper. More importantly, the efficacy and superiority of ZG controllers are further verified via plenty of computer simulations for the cart path tracking of the general IPC model with nonzero link mass.