Invariant-based inverse engineering for balanced displacement of a cart-pole system

Abstract

Adiabaticity is a key concept in physics, but its applications in mechanical and control engineering remain underexplored. Adiabatic invariants ensure robust dynamics under slow changes, but they impose impractical time limitations. Shortcuts to Adiabaticity (STA) overcome these limitations by enabling fast operations with minimal final excitations. In this work, we set a STA strategy based on dynamical invariants and inverse engineering to design the trajectory of a cart-pole, a system characterized by its instability and repulsive potential. The trajectories found guarantee a balanced transport of the cart-pole within the small oscillations regime. The results are compared to numerical simulations with the exact non-linear model to set the working domain of the designed protocol.

11 pages, 5 figures

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