A Formal Proof in Coq of a Control Function for the Inverted Pendulum

Damien Rouhling (1)

1 MARELLE - Mathematical, Reasoning and Software

Control theory provides techniques to design controllers, or control functions, for dynamical systems with inputs, so as to grant a particular behaviour of such a system. The inverted pendulum is a classic system in control theory: it is used as a benchmark for nonlinear control techniques and is a model for several other systems with various applications. We formalized in the Coq proof assistant the proof of soundness of a control function for the inverted pendulum. This is a first step towards the formal verification of more complex systems for which safety may be critical.

Mots clés: Inverted pendulum; Control; Stability; Coq; Formal proofs

Domaines: Informatique [cs]; Logique en informatique [cs.LO]; Logiciel mathématique [cs.MS]

Damien Rouhling. A Formal Proof in Coq of a Control Function for the Inverted Pendulum. CPP 2018 - 7th ACM SIGPLAN International Conference on Certified Programs and Proofs, Jan 2018, Los Angeles, United States. pp.1-14, ⟨10.1145/3167101⟩. ⟨hal-01639819v2⟩