{"title":"Global-stabilization of the inverted-pendulum; an early solution and hardware implementation","authors":"J. L. Baumann, C.D. Johnson","doi":"10.1109/SSST.2004.1295703","DOIUrl":null,"url":null,"abstract":"The problem of globally stabilizing an inverted-pendulum with arbitrary initial conditions and with the pivot mounted on a movable platform constrained to move in horizontal motion and controlled by a servomotor is considered. A novel solution involving a dual-mode optimal control-law consisting of a bang-bang, time-optimal mode and a smooth linear mode is developed. The results are verified in a full, non-linear simulation as well as implemented in an actual hardware model. These results appear in a Master's Thesis written in 1971 and apparently predate similar results reported in the literature.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSST.2004.1295703","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The problem of globally stabilizing an inverted-pendulum with arbitrary initial conditions and with the pivot mounted on a movable platform constrained to move in horizontal motion and controlled by a servomotor is considered. A novel solution involving a dual-mode optimal control-law consisting of a bang-bang, time-optimal mode and a smooth linear mode is developed. The results are verified in a full, non-linear simulation as well as implemented in an actual hardware model. These results appear in a Master's Thesis written in 1971 and apparently predate similar results reported in the literature.
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