Optimization and Control of a Pendulum-driven Cart-pole System

This paper investigates the motion generation for a pendulum-driven cart-pole system. The dynamic model of this system is developed by using the Newton's law. A six-step motion strategy is simulated by using MATLAB/SIMULINK. The pendulum is driven by an open-loop controller to track the desired pendulum angular velocity profile. The optimal configuration which based on the profile is addressed under some specified conditions.