Global stabilization of controlled nonlinear system "inverted pendulum on a cart" using method of two Lyapunov functions

2003/12/30 by B. L. Mazov, Mazov, B. L.
Engineering · Mathematics · #34D23 #93C10 #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems #Dynamical Systems (math.DS) #Dynamics and Control of Mechanical Systems #FOS: Mathematics #math.DS #msc:34D23 #msc:93C10

paper · pdf · doi:10.48550/arxiv.math/0312495

10 pages

arxiv created 2003/12/30 · openalex publication_date 2003/12/30 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

Title: Global stabilization of control nonlinear system "inverted pendulum on a cart" using method of two Lyapunov functions Authors: B. L. Mazov (Nizhny Novgorod Technical University) Comments: 10 pages Subj-class: Dynamical Systems MSC-class: 34D23 (Primary); 93H10 (Secondary) In this work a mathematical apparatus for method of several global Lyapunov functions is applied to study the stability properties of nonlinear model of concrete singularly perturbed mechanical system "inverted pendulum on a cart" with discontinuous relay-type control. In this analysis, the concept of solution in sense of Gelig et al. is used.

Citations

• Control of unstable mechanical system Control of pendulum†

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