{"title":"The Optimal Stabilization of Cart-Pole System: A Modified Forwarding Control Method","authors":"Guowei Xu","doi":"10.1109/SSME.2009.96","DOIUrl":null,"url":null,"abstract":"In this paper, an improved design method is proposed to extend the field of the application of the common integrator forwarding technique. This method is used to design a stabilizer for the cart-pole system. Moreover, it is show that the control Lyapunov function which is obtained from this method can also be used to design a globally asymptotically stabilizing controller with optimality. Computer simulations are given for illustration and verification.","PeriodicalId":117047,"journal":{"name":"International Conference on Services Science, Management and Engineering","volume":"84 ","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Conference on Services Science, Management and Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSME.2009.96","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In this paper, an improved design method is proposed to extend the field of the application of the common integrator forwarding technique. This method is used to design a stabilizer for the cart-pole system. Moreover, it is show that the control Lyapunov function which is obtained from this method can also be used to design a globally asymptotically stabilizing controller with optimality. Computer simulations are given for illustration and verification.
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