Controllability of a planar inverted pendulum on a cart

Details Controllability of a planar inverted pendulum on a cart Controllability of a planar inverted pendulum on a cart

2012-03-20

arxiv.org/abs/1203.4533v1

Mathematics

Optimization and Control

9 pages, submitted to Systems & Control Letters

Scientific paper

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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