Global Control of the Cart and Pole System

This paper presents a global control strategy to further improve the feasibility of the cart and pole system control. Two different kinds of nonlinear functions in cart and pole system models are analyzed at large to demonstrate motivation of global control application. Global system models are first proposed to represent the various nonlinear dynamics of the cart and pole system. Consequently, the operating region of the cart and pole system is decomposed into partial subspaces and the corresponding coordinated rules are derived to integrate different partial models. Finally, the global control law is constructed by combining all the partial control actions through the partial membership functions. To demonstrate the effectiveness of global control application, two control objectives: control displacement of both cart and pole and only regulate the displacement of pole, are implemented in the simulation.