Stabilization of the inverted pendulum via a constructive Lyapunov function (Q982228)

The authors discuss the title problem providing new insight into the behavior of an inverted pendulum on a cart. The authors develop a procedure for determining Lyapunov functions for this system. A control procedure is proposed so that the time derivative of a Lyapunov function is semi-negative definite. The paper itself is brief but rigorous with an emphasis upon the theoretical underpinnings as opposed to applications. Nevertheless, the paper should be of use to both engineers and mathematicians.