Stable Neural Control Techniques Applied to the Cart-Pole System

J. Fernández de Canete and I. García-Moral (Spain)

Keywords

Neural networks, InputOutput stability, Lyapunovstability, Neurocontrol.

Abstract

In this paper we make a dual stability analysis of neural controlled systems both by building Lyapunov functions and by using the I-O based criteria . Simulation results are presented for the cart-pole system demonstrating the effectiveness of both approaches and its reciprocal relation when facing neural-based control systems. The conceptual simplicity of the geometric interpretation of stability through I-O conditions becomes evident in contrast to the Lyapunov function approach.

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