In this paper, we will propose a nonlinear passivity based controller fur a double inverted pendulum system, consisting of a two-link pendulum mounted on a pad which is moved by a linear induction motor so that the double pendulum points straight-up The proposed controller nut only can drive the double pendulum from its “natural stable hanging position” tu its “unstable upright inverted positio...

The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. The inverted pendulum represents a challenging control problem, which continually moves toward ...

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...

This paper describes the method for trajectory tracking and balancing the Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). A robust LQR controller for stabilizing the SESIP is proposed in this paper. The first part of the controller is a Position Velocity (PV) controller to swing up the pendulum from its hanging position by moving the pendulum left and righ...

1. Presenting lower and upper bounds on the complexity of testing Bipartitness; specifically, we present a poly(1/ǫ) · Õ( √ k)-time tester, and an Ω √ k) lower bound on the query complexity of any tester for Bipartitness. 2. Reviewing a quasi-poly(1/ǫ)-time tester for Planarity. The result extends to testing any minor-closed property (i.e., a graph property that is preserved under the omission ...

The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. This paper presents hybrid control method for swing up and LQR control method for the stabilization. The flexibility of the hybrid control method based on the selection of heuristic swing up controller and energy swing up controller at the different positions of pendulum. The ...

This paper considers the problem of damping the oscillation of a plane pendulum by moving the pivot in the vertical plane and the weight along the rod of the pendulum, with limited amplitudes. Conditions for stability of the motion of the pendulum are derived using energybased methods, and based on them energy-based controls satisfying the amplitude constraints are developed, which move the piv...

It is adaptive to remember animates, particularly animate agents, because they play an important role in survival and reproduction. Yet, surprisingly, the role of animacy in mnemonic processing has received little direct attention in the literature. In two experiments, participants were presented with pronounceable nonwords and properties characteristic of either living (animate) or nonliving (...

The study reveals specific ways of expressing the passage time in story "Live and Remember" by Valentin Rasputin. is aimed at demonstrating how development plot, dialectic relationships between memory oblivion, as well fluctuations heroes’ memories – all create image a pendulum. applied methodology involved linguostylistic analysis text. author identifies linguistic means that help writer to dr...

The rapid development of skid control safety applications in Electric Vehicles and modern vehicles calls for a more detailed assessment the application-related design parameters. One main significant parameters such is number threshold. tire-road one most important variables that influences sliding system vehicles. Most available studies academic literature have focused on testing mode controll...