Abstract: In this paper, a model is described for a system consisting of an inverted pendulum attached to a cart. We design for this model a feedback optimal control based on Linear Quadratic regulator, LQR by using the generating Function technique. This design with hard and soft constraints will help the pendulum to stabilize in the upright position. A solution of the continuous low-thrust optimal control problem based on LQR method is implemented. An example applied to this control design for a hard constraint boundary condition.

Hany R. Dwidar, “Feedback Optimal Control for Inverted Pendulum Problem by Using the Generating Function Technique ” International Journal of Advanced Computer Science and Applications(IJACSA), 5(11), 2014. http://dx.doi.org/10.14569/IJACSA.2014.051105

@article{Dwidar2014,
title = {Feedback Optimal Control for Inverted Pendulum Problem by Using the Generating Function Technique },
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2014.051105},
url = {http://dx.doi.org/10.14569/IJACSA.2014.051105},
year = {2014},
publisher = {The Science and Information Organization},
volume = {5},
number = {11},
author = {Hany R. Dwidar}
}