The inverted pendulum is a canonical problem in both Nonlinear Dynamics and Control Theory. In this article, the phenomenon of dynamic stabilization of the vertically driven inverted pendulum is investigated experimentally and numerically. We resolve the first stabilizing boundary in driving parameter space, as well as investigate the effects of frictional damping on the dynamics of the pendulu...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

The controlled buckling piezoelectric structures can be used for stretchable energy harvesting due to the stretchability and piezoelectricity. In this paper, the ambient environmental excitation is modeled as a bound-limited white noise, and the random analysis is conducted to study the system response of controlled buckling structures. The spatial distribution of the harvestable energy is reve...

Stretchable electronics (i.e., hybrid inorganic or organic circuits integrated on elastomeric substrates) rely on elastic wiring. We present a technique for fabricating reversibly stretchable metallic films by printing silver-based ink onto microstructured silicone substrates. The wetting and pinning of the ink on the elastomer surface is adjusted and optimized by varying the geometry of microp...

In the course of two European projects the endurance behavior of stretchable electronic substrates and of electronic textiles was investigated. The results have to a large extent been published already. In this work new analyses to the earlier results are presented. Straightforward analytical approaches are used to describe fatigue under cyclic mechanical loading in the two technologies. For st...

We integrate air bubbles into conductive elastic composite-based stretchable conductors to make them mechanically less stiff and electrically more robust against physical deformations. A surfactant facilitates both the formation and maintenance of air bubbles inside the elastic composites, leading to a simple fabrication of bubble-entrapped stretchable conductors. Based on the unique bubble-ent...

The fabrication of flexible, stretchable and rechargeable devices with a high energy density is critical for next-generation electronics. Herein, fiber-shaped Zn-air batteries, are realized for the first time by designing aligned, cross-stacked and porous carbon nanotube sheets simultaneously that behave as a gas diffusion layer, a catalyst layer, and a current collector. The combined remarkabl...

In this paper, we examine non-stretchable 2D polygonal cloth, and place bounds on the number of fingers needed to immobilize it. For any non-stretchable cloth polygon, it is always necessary to pin all the convex vertices. We show that for some shapes, more fingers are necessary. No more than one third of the concave vertices need to be pinned for simple polygons, and no more than one third of ...

This paper describes a preliminary investigation into the use of normal form theory for modelling large non-linear dynamical systems. Limit cycle oscillations are determined for simple two-degree-of-freedom double pendulum systems. The double pendulum system is reduced into its centre manifold before computing normal forms. Normal forms are obtained using a period averaging method which is appl...

Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC) was applied to evaluate the performance of the MPC controller and tune its parameters. The ...