Nonlinear Optimal Tracking Control Applied to the Rotary Inverted Pendulum

Serafin Ramos-Paz,Fernando Ornelas-Tellez, Luis Alfonso Inostroza-Moreno

2021 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)（2021）

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摘要

This paper discusses the nonlinear optimal tracking control problem for a class of Euler-Lagrange mechanical systems, expressed as the state-dependent coefficient factorization (SDCF), to solve the associated state-dependent Riccati equation derived from the nonlinear optimal tracking control problem. The nonlinear optimal tracking control's effectiveness is demonstrated through simulation and rea...

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