The trifilar pendulum is one of the most widely used methods for measurement moment inertia a body around rotating axis. Despite its simplicity, this method allows very high accuracy. In general, motion assumed to be small enough considered linear. However, some applications exist which larger motions have employed. these cases, amplitude influences period oscillation and affects measured value...

Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...

Many of the physical phenomena, like friction, backlash, drag, and etc., which appear in mechanical systems are inherently nonlinear and have destructive effects on the control systems behavior. Generally, they are modeled by hard nonlinearities. In this paper, two different methods are proposed to cope with the effects of hard nonlinearities which exist in friction various models. Simple inver...

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...

For double inverted pendulum multivariable, strong coupling and nonlinear proposed adaptive fuzzy neural inference system (ANFIS) is applied inverted pendulum stabilization control process. Adaptive control algorithm, fully able to meet the requirements of double inverted pendulum control, ANFIS system after training, will be applied to the inverted pendulum system controller has better control...

This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendu...

The paper presents a new family of controllers for swinging up a pendulum. The swinging up of the pendulum is derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions of the state space. A family of simple smooth controllers without switches with nice properties is obtained. The main res...

We consider in this paper the problem of (asymptotic) stabilization, via position feedback, of mechanical systems with underactuation degree one. A full state–feedback design is first derived applying Interconnection and Damping Assignment PassivityBased Control to which an Immersion and Invariance speed estimator is then added. The technique is applied to obtain an (almost) globally stabilizin...