Tracking trajectories of the cart-pendulum system (Q1868084)

The planar inverted pendulum on a cart is one of the most remarkable physical devices. Here, the problem of tracking a periodic trajectory of the cart-pendulum system as a tracking control problem for nonlinear systems is solved by means of a Lyapunov stability technique. One uses mainly the feedforward property. The author states that the designed control law uniformly asymptotically stabilizes the oscillation around the upward vertical position of the pendulum on a cart moving on a horizontal axis when initial conditions of the deflection angle are in the interval \(]-\pi/2,\pi/2[\). Unfortunately some designations and transformations are not explained, which impedes the understanding of the contents of the paper.