Computation of Reference Trajectories for Inverted Pendulum with the Use of Two-point BvP with Free Parameters

Abstract

This paper deals with the computation of reference trajectories for inverted pendulum model to be used in two-degree of freedom control scheme. The proposed method uses a special customized candidate function for control signal u(t) involved in formulation of this case study as Two-point Boundary Value Problem with free parameters (TPBVP)