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Title
Japanese: 
English:Bilinear System Approximation-based Inverted Pendulum Stabilization in Three Dimensions 
Author
Japanese: 藤田 優稀, 伊吹 竜也, 三平 満司.  
English: Y. Fujita, T. Ibuki, M. Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the SICE Annual Conference 2014 
Volume, Number, Page         pp. 1023-1028
Published date Sept. 11, 2014 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2014 
Conference site
Japanese: 
English:Sapporo, Hokkaido 
DOI https://doi.org/10.1109/SICE.2014.6935246
Abstract This paper considers inverse optimal control design for an inverted pendulum with three-dimensional movements. We show that the inverted pendulum model can be transformed into the bilinear system via a quadratic approximation and coordinate/input transformations. Then, the inverse optimal controller proposed in one of our previous works is applied to the resulting bilinear system. We next show that the present scheme has a better performance than traditional linear optimal control for linearly approximated systems by effectively utilizing the vertical movement of the pendulum system. This result is confirmed by conducting numerical simulations.

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