Approximate solutions to the time-invariant Hamilton-Jacobi-Bellman equation
Journal of Optimization Theory and Applications
Feedback control methodologies for nonlinear systems
Journal of Optimization Theory and Applications
Brief Almost global stabilization of the inverted pendulum via continuous state feedback
Automatica (Journal of IFAC)
Brief Swinging up a pendulum by energy control
Automatica (Journal of IFAC)
Generalized receding horizon control of fuzzy systems based on numerical optimization algorithm
IEEE Transactions on Fuzzy Systems
Hi-index | 22.14 |
We present a time invariant nonlinear controller for the inverted pendulum based on optimal control, which is defined for all pendulum angles. The paper provides a case study in the brute force method of calculating the extremal field by solving the Euler-Lagrange equations backward in time, thus exploring the stable manifold of the Hamiltonian flow. The controller is only given numerically on an interpolation grid. We use this controller for closed loop simulations corroborating considerable gain robustness.