An inverted pendulum fitted on the moving cart (IPMC) represents a class of nonlinear system and is inherently unstable. Stabilizing such nonlinear systems is still a challenging objective for control engineers. It is very difficult to keep the pendulum always in upright position as it is highly sensitive to even a small disturbance and tend to fall down. Hence, the objective of the control mec...

We study the stabilizability, via the method of energy shaping, of a given Lagrangian system with two degrees of underactuation and with n ≥ 4 degrees of freedom. By making use of the formal theory of PDEs, we derive an involutive system of PDEs which governs energy shapability, and thus deduce, for the first time, easily verifiable conditions under which energy shaping is guaranteed. We illust...

Araç üzerinde konumlu Ters Sarkaç, çeşitli kontrol yöntemlerinin uygulanması ve performanslarının karşılaştırılması adına, akademik anlamda yaygın olarak kullanılmaktadır. Kararsız lineer olmayan yapıdaki sistem bozucuları ölçüm gürültüleri karşısında, duyarlı kırılgan yapıdadır. Bozuculara sensör gürültüsüne maruz kalmak, sistemlerinin performansını olumsuz etkilemekte kalitesinin düşmesine se...

This article discusses a problem of stabilization for an inverted pendulum on a cart. In this work the cart does not travel along an horizontal line, which is the case commonly considered in the literature, but along an arbitrary path in the horizontalvertical plane. The main obstacle encountered lies in the fact that the feedback controlled system becomes unstable in some ”critical regions” al...

This study presents an energy level stabilization algorithm for the pendulum on a cart system with restricted cart track length. The objective is to bring the pendulum to its unstable equilibrium. To do so the energy level of the pendulum is increased or decreased by accelerating the cart in the appropriate direction while keeping within imposed limit positions. To achieve, the equation of moti...

The cart-and-pendulum system is a highly nonlinear and under-actuated system that is a great source of interest and motivation for researchers all over the world. There are various configurations of the cart-and-pendulum system that finds wide applications in areas of manufacturing, robotics and control. This paper presents an offline mode control of the Flexible Inverted Pendulum (FIP), which ...

The paper considers and analyzes the existing methods of controlling systems with a deficit control actions. Based on analysis, it was decided to use linear controllers feedback state vector system compare these - modal linear-quadratic. For study, dynamic model chosen, which is an inverted 2-degree freedom (2DOF) pendulum mounted cart. By iterative method, acceptable generalized coordinates th...

A device laboratory was designed to create a commanded disturbance to the Furuta inverted pendulum. This pendulum was modified by adding a second inverted pendulum coupled to the main one by means of a semi-rigid spring. The induced motion on the second inverted pendulum causes displacement of the center of mass of the system, producing a kind of perturbation similar to that presented on mobile...