Dynamic Programming Based Adaptive Optimal Control for Inverted Pendulum

Abstract

This work presents the problem of adaptive optimal control law for a class of continuous-time systems with input disturbance and unknown parameters. The main objective is to find an adaptive optimal control law based on the adaptive dynamic programming (ADP) method and it is able to stabilize the closed-loop system. Besides, the convergence properties of proposed algorithm is pointed out. The theoretical analysis and simulation results demonstrate the performance of the proposed algorithm for inverted pendulum.