Learning to control dynamic systems with unknown models is a challenging research problem. However, most previous work that learns qualitative control rules does not construct qualitative states | a proper partition of continuous state variables has to be designed by human users and given to the learning programs. We design a new learning method that learns appropriate qualitative state represe...

We investigate the dynamics of an inverted pendulum subjected to Jacobi elliptic forcing both numerically and experimentally. In so doing, we hope to provide a coherent picture on stability of an inverted pendulum subjected to forcing that ranges from harmonic to nonharmonic in nature. We are able to determine the regions of stability of a sinusoidally forced inverted pendulum, with results sim...

This paper investigates secure control of Networked Inverted Pendulum Visual Servo Systems (NIPVSSs) based on Active Disturbance Rejection Control (ADRC). Firstly, considering the network- and image-induced delays in conjuction with computational errors caused by image processing attacks, model NIPVSSs is established. Secondly, limitations traditional Single-Input-Single-Output (SISO) ADRC used...

Generally the inverted pendulum is unstable, because the pendulum will fall downward due to the gravitational force acting on mass of the pendulum. Keeping the pendulum at vertically inverted position, the position of DC motor shaft needs to be controlled using closed loop analysis. For closed loop analysis, feedback or input device such as encoder is used. To control and set the pendulum at de...

In this paper we derive a nonlinear control law for stabilization of the Furuta pendulum system with the pendulum in the upright position and the rotating rigid link at rest at the origin. The control law is derived by first applying feedback that makes the Furuta pendulum look like a planar pendulum on a cart plus a gyroscopic force. The planar pendulum on a cart is an example of a class of me...

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 ...

This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium con5guration using energy control principles. An “energy well” is built within the cart track to prevent the cart fro...

This paper proposes an intelligent control approach towards Inverted Pendulum in mechanical engineering. Inverted Pendulum is a well known topic in process control and offering a diverse range of research in the area of the mechanical and control engineering. Fuzzy controller is an intelligent controller based on the model of fuzzy logic i.e. it does not require accurate mathematical modelling ...