2019
DOI: 10.48550/arxiv.1909.04708
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On properties of optimal controls for an inverted spherical pendulum

Larisa Manita,
Mariya Ronzhina

Abstract: In this paper we study an optimal control problem that is affine in two-dimensional bounded control. The problem is related to the stabilization of an inverted spherical pendulum in the vicinity of the upper unstable equilibrium. We find solutions stabilizing the pendulum in a finite time, wherein the corresponding optimal controls perform an infinite number of rotations along the circle S 1 .

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