Design controler of the quasi-time optimization approach for stabilizing and trajectory tracking of inverted pendulum

This article describes the method of stabilizing and tracking the trajectory of the inverted pendulum with the quasi-time optimization approach. The controller proposed in this paper is not only to stabilize the inverted pendulum in a vertical position but also to cause the inverted pendulum to follow a predetermined reference signal even when there is an interference effect. The focus of this project is the design of a quasi-time control law based on the quasi-time optimization approach and Lyapunov stability theory. The simulation and experimental results suggest that the proposed controller controls the inverted pendulum balance and cart position stability which are better than the LQR method even when there is an external disturbance effect. © The Authors, published by EDP Sciences, 2018.