JIC_V3_N2_RP1 Gopal Yadav Lal Bahadur Prasad Journal on Instrumentation & Control Engineering 2321 – 1148 3 2 32 38 Inverted Pendulum, Feedback Linearization, PID Control, Nonlinear System The Inverted Pendulum (IP) system is a classic control problem which is used as benchmark and is easily available in laboratories to verify new control techniques evolved. The main aim of this paper, is to develop a controller to keep the pendulum upright and cart at desired position. In this paper, feedback linearization control technique is used to eliminate non linearity of this system and compared with conventional PID (Propositional- Integral- Derivative) controller. The MATLAB Simulink model has been developed for simulation, control and analysis of IP system. The result shows that the cart position and pendulum angle both acquired desired position quickly. February - April 2015 Copyright © 2015 i-manager publications. All rights reserved. i-manager Publications http://www.imanagerpublications.com/Article.aspx?ArticleId=3538