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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