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AbstractThis text covers optimization of an inverted pendulum control system with friction compensator. The control system is tuned with respect to a performance index based on the novel method of the Largest Lyapunov Exponent estimation. The detailed description of the method is provided. Model of the control object is presented. A simple controller is proposed. Two control systems are compared: the one with compensator and the one without. Parameters of both controllers are optimized withdoi:10.2478/mme-2018-0075 fatcat:twkp4as5zbhyzozdksfvz56a6q