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Title
Japanese: 
English:Experiments of Inverse Optimal Control Problem for Inverted Pendulum with Horizontal and Vertical Inputs 
Author
Japanese: 田原 康平, 金澤 雅夫, 関口 和真, 三平 満司.  
English: Kouhei Tahara, Masao Kanazawa, Kazuma Sekiguchi, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference 2011 
Volume, Number, Page         pp. 284-289
Published date Dec. 12, 2011 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:the 50th Conference on Decision and Control and European Control Conference 2011 
Conference site
Japanese: 
English:Orlando 
DOI https://doi.org/10.1109/CDC.2011.6161085
Abstract In this paper, inverse optimal control problem for an inverted pendulum with horizontal and vertical movements is considered. This inverted pendulum can be transformed into a bilinear system by using input transformation and coordinate transformation focused on the center of percussion of the pendulum. For bilinear systems, an optical control algorithm which minimizes a new quadratic cost function was proposed. However, there are no experiments by using this controller. Thus this control algorithm may not able to be applied to real examples. And so, in this paper, this control algorithm is applied to the bilinear system of the inverted pendulum. Furthermore, the effectiveness of this controller is shown by experiments.

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