Title :
The Optimal Stabilization of Cart-Pole System: A Modified Forwarding Control Method
Author_Institution :
Inst. of Comput. Technol. & Autom., Tianjin Polytech. Univ., Tianjin, China
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.
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; nonlinear control systems; optimal control; Lyapunov function; asymptotic stability; cart-pole system; modified forwarding control method; optimal stabilization; Automatic control; Conference management; Control systems; Design automation; Design engineering; Design methodology; Engineering management; Lyapunov method; Optimal control; Technology management; Lyapunov function; forwarding system; globally asymptotically stabilizing; nonlinear control;
Conference_Titel :
Services Science, Management and Engineering, 2009. SSME '09. IITA International Conference on
Conference_Location :
Zhangjiajie
Print_ISBN :
978-0-7695-3729-0
DOI :
10.1109/SSME.2009.96
