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Regular version of the site

Working paper

On properties of optimal controls for an inverted spherical pendulum

math. arxive. Cornell University, 2019. No. 1909.04708.
Manita L., Ronzhnina M.
In this paper we study an optimal control problem that is affine in two-dimensional bounded control. The problem is related to the stabilization of an inverted spherical pendulum in the vicinity of the upper unstable equilibrium. We find solutions stabilizing the pendulum in a finite time, wherein the corresponding optimal controls perform an infinite number of rotations along the circle S1.