Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with gravity coupling and large deformations, because of inherent underactuation and the combination of lumped and distributed parameters of a nonlinear system. In...

Model predictive control (MPC) includes a receding-horizon control techniques based on the process model for predictions of the plant output. Since late 1970’s several MPC approaches have been reported in the literature. Selection of the most appropriate MPC approach depend on the specific problem. In this paper, discrete time MPC is applied to a inverted pendulum system coupled to a cart. The ...

It was demonstrated in 1964 by F.W. Smith and B. Widrow that a neural network used as an adaptive controller could be trained to stabilize an inverted pendulum fixed to a non-stationary platform or cart (the "broom-balancer"). The critical state variables (pendulum angle, pendulmn angular velocity, cart position, cart velocity) were measured and fed to the system in digital form. An unrealized ...

A new development of a swing-tracking control algorithm for nonlinear inverted pendulum system presents in this paper. Sliding mode control technique is used and guided by Lyapunov stability criterion and tuned by Bees-slice genetic algorithm (BSGA). The main purposes of the proposed nonlinear swing-tracking controller is to find the best force control action for the real inverted pendulum mode...

The hybrid solution to the pendulum swinging-up and stabilizing problem introduced by Åström and Furuta is based in two steps: an energy injection and a linear stabilization around the desired inverted position. However the energy injection stage only considers the pendulum, and not the motion of the pivot. Furthermore, for the stabilization stage linear law, only a very small basin of attracti...

Humans face the task of balancing dynamic systems near an unstable equilibrium repeatedly throughout their lives. The task of inverted pendulum (stick) balancing (Fig. 1a) is an increasingly popular paradigm of studying human control behavior in such situations [1]. In particular, much research has been aimed at understanding the mechanisms of discontinuous, or intermittent control in the conte...