Analytical solutions to the energy PDEs enable an IDA-PBC controller for rotary inverted pendulum with a new robust term for disturbances.
Modeling, sim- ulation, and control of a rotary inverted pendulum: A reinforcement learning-based control approach
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Robust Energy Shaping Control of an Underactuated Inverted Pendulum
Analytical solutions to the energy PDEs enable an IDA-PBC controller for rotary inverted pendulum with a new robust term for disturbances.