In this paper we introduce a practical algorithm for computing an optimal feedback control for nonlinear systems. The algorithm that we present computes a sequence of suboptimal controls that converge to the optimal. We demonstrate the features of the algorithm by three simple examples including the optimal nonlinear feedback control of an inverted pendulum.

Dedicated to Paul Blanchard on the occasion of his sixtieth birthday. Abstract: The dynamics of a simple model of three charged bodies interacting under an inverse square electrostatic force is presented. The model may be viewed as an alternative to the pendulum, the standard model of a periodically forced and damped nonlinear oscillator.

A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of actuators for an actual running robot.

this paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. our rotary inverted pendulum is supported bya pivot arm. the pivot arm rotates in a horizontal plane by means of a servomotor. the opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. a pendulum is suspended at thejoint. the task is to design a contro...

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions.

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink...