The probabilistic Random Access Memory (pRAM) is a biologically-inspired model of a neuron. The pRAM behaviour is described in this paper in relation to binary and real-valued input vectors. The pRAM is hardware-realisable, as is its reinforcement training algorithm. The pRAM model may be applied to a wide range of artificial neural network applications, many of which are classification tasks. ...

Abstract: Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is stud...

This document describes the Sequential Alternating Least Squares (SeALS) tool developed in MATLAB. Five examples are included – scalar unstable system, smooth two dimensional system, an inverted pendulum on a moving cart, a VTOL aircraft, and a quadcopter – to illustrate the use of SeALS. The theoretical background of this tool is given by [1]. The tool is available at [2]. The rest of this doc...

Abstract — This paper describes the design and implementation of a self-balancing two-wheeled robot, the Equilibrist Robot. The system is similar to the classical unstable, non-linear mechanical control problem of an inverted pendulum on a cart. Using the Linear Quadratic Regulator method and PID for state feedback, this paper shows a control algorithm that solves this problem. This control is ...

We extend the method of controlled Lagrangians to include potential shaping for complete state-space stabilization of mechanical systems. The method of controlled Lagrangians deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping complement...

An inverted pendulum on a cart (IPC) system, which is widely used test environment for controller design due to ease of applicability, has the opportunity be applied in different fields with nonlinear and under-actuated characteristics. In this study, performance explicit MPC control method been examined against noise disturbances by using two cases analysis approaches. Different trajectory tra...

In this paper, we study the tracking control problem for a nonlinear system in which the zero dynamics may be unstable. The objective here is to approximate the nonlinear system by another singularly perturbed system by using a small singular perturbation parameter  . The proposed approach is based on the methodology of exact input output linearization control, the integrator backstepping appr...

This paper describes a new multiple-observer approach to Wireless Network Control Systems (WNCS). Two sets of observers are proposed, Lost Sample Observers (LSO) to deal with packet dropout and State Prediction Observers (SPO) to compensate for time-varying delays. These are designed using Linear Matrix Inequalities (LMI), thereby ensuring closed-loop stability. A numerical example, of a cart-m...

We extend the method of controlled Lagrangians (CL) to include potential shaping, which achieves complete state-space asymptotic stabilization of mechanical systems. The CL method deals with mechanical systems with symmetry and provides symmetry-preserving kinetic shaping and feedback-controlled dissipation for state-space stabilization in all but the symmetry variables. Potential shaping compl...

This paper presents the hardware implementation of a neural network controller for controlling an inverted pendulum system on an x-y plane robot. The inverted pendulum system can move on an x-y plane while balancing the angle of the pendulum. Neural network algorithm is implemented on a cost effective DSP board in association with an FPGA chip. The reference compensation technique of neural net...