Known sufficient condition for stabilization of the controlled inverted pendulum under stochastic perturbations is improved via V.Kolmanovskii and L.Shaikhet general method of Lyapunov functionals construction.

−Inverted Pendulum is a well established benchmark problem that produces many challenges to a control engineer. It is a nonlinear, unstable, non minimumphase and under actuated system.Itrequires a controller which canadapt in different disturbance conditions and work appreciably well when compared to conventional controllers. In this paper Interval type-2 Fuzzy logic controllerfor inverted pend...

We investigate experimentally liquid (oil) droplets vibrating over a bath of the same liquid and relate the phenomenon to the well-known effect of the stabilization of an inverted pendulum on a vibrating foundation (a “Kapitza pendulum”). Small fast vibrations can be substituted by an effective “levitation” force. We further discuss this effective stabilizing “spring force”. Besides the inverte...

The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of automatic control. In this paper two Neural Network controllers to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state are described. Both controllers are able to learn the demonstrated behavior which was swinging u...

The purpose of this paper is to present the design and program implementation of expansions made to the existing general algorithmic procedure which yields the mathematical model for a classical inverted pendulum system with an arbitrary number of pendulum links. The expansions include the option to define the reference position of the pendulum in a planar coordinate system, to choose the refer...

In this study, considering the dynamic equations of rotary inverted pendulum system and motor dynamics, angle is controlled with fuzzy logic sliding mode control method which has moving surface using state variables in Matlab program. The selected as moving. A structure used to calculate slope slip surface. boundary values membership functions have been optimized genetic algorithm codes sum squ...