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In this paper, the problem of swing up and stabilization of an inverted pendulum by a single feedback control law is considered. The problem is formulated as an optimal control problem including input saturation and is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation. In this approach, the problem is turned into the enhancement problem of the domain of validity to include the pending position. After a finite number of iterations, andoi:10.9746/sicetr.48.423 fatcat:by7txfhxofbrpe2v5olkx3nk5e