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arXiv · 1909.04708

On properties of optimal controls for an inverted spherical pendulum

Larisa Manita·Mariya Ronzhina
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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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Larisa Manita, Mariya Ronzhina. 2019-09-10. On properties of optimal controls for an inverted spherical pendulum. https://arxiv.org/abs/1909.04708

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