Finite-Time Control for a Class of Inverted Pendulum Systems

This work addresses the finite-time control problem for a class of nonlinear inverted pendulum systems. A series of homogeneous controllers, which are capable of guaranteeing the locally finite-time stability for the closed-loop systems, are first developed using the adding one power integrator method and backstespping technique. Subsequently, the nested saturation control approach has been further proposed in order to achieve global finite-time stability after appropriately adjusting the saturation level. Furthermore, the simulation results are given to validate the effectiveness of the proposed strategy.