Controllability of a planar inverted pendulum on a cart

2012/03/20 by M. I. Caiado, Caiado, M. Isabel
Engineering · #93B03 #93B05 #93B27 #93C15 #Adaptive Control of Nonlinear Systems #Control and Stability of Dynamical Systems #Dynamics and Control of Mechanical Systems #FOS: Mathematics #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.1203.4533

openalex publication_date 2012/03/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

Using tools and techniques from geometric control theory, namely Hermann-Nagano theorem, we prove controllability result for a mechanical system consisting of a planar double inverted pendulum fixed to a wheeled cart that can move linearly along a horizontal track.

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