Stability analysis of the neurocontroller-observer for a inverted pendulum case

This paper presents a practical analysis of the effect of incorporating an observer into the control loop of the inverted pendulum when the controller that is acting is a neurocontroller. The neurocontroller is calculated by approximate optimal control, considering the Luenberger's observer in the loop. The neurocontroller-observer obtained results are compared against a linear controller-observer, showing an operation into a state range narrower than the one proposed here.