Lyapunov Optimal Feedback Control of a Nonlinear Inverted Pendulum

[+] Author and Article Information
M. J. Anderson, W. J. Grantham

Department of Mechanical and Materials Engineering, Washington State University, Pullman, Wash. 99164-2920

J. Dyn. Sys., Meas., Control 111(4), 554-558 (Dec 01, 1989) (5 pages) doi:10.1115/1.3153091 History: Received September 22, 1987; Online July 21, 2009


Lyapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which “rocks” the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Lyapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

Copyright © 1989 by ASME
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