This paper introduces an evolutionary algorithm that is tailored to generate recurrent neural networks functioning as nonlinear controllers. Network size and architecture, as well as network parameters like weights and bias terms, are developed simultaneously. There is no quantization of inputs, outputs or internal parameters. Different kinds of evolved networks are presented that solve the pol...

This paper develops a novel probabilistic framework for stochastic nonlinear and uncertain control problems. The proposed exploits the Kullback–Leibler divergence to measure between distribution of closed-loop behavior dynamical system predefined ideal distribution. To facilitate derivation analytic solution randomized controllers systems, transformation methods are applied such that dynamics c...

Sliding mode control is quickly becoming a popular research ...eld due to the several favorable qualities, including robustness. Linear quadratic control has been one of the more popular and more traditional control techniques, partially due to the ease of implementation and its optimality quality. In this paper, we provide an introduction to sliding mode control. A technique is suggested to al...

Intermittent predictive pole-placement control is successfully applied to the constrained-state control of a prestabilised experimental inverted pendulum.

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions.

Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller ...

The purpose of this paper is to present the design and program implementation of expansions made to the existing general algorithmic procedure which yields the mathematical model for a classical inverted pendulum system with an arbitrary number of pendulum links. The expansions include the option to define the reference position of the pendulum in a planar coordinate system, to choose the refer...

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed t...

X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. In this paper, the control problem of X-Z inverted pendulum with system uncertainties is addressed, and a pair of decoupled adaptive fuzzy sliding mode control method is proposed. The fuzzy logic system is employed to approximate the system uncertainties as well a...

This article gives a practical overview of the popular biomechanically inspired, computationally efficient, algorithmically straightforward inverted pendulum technique for character-based systems. We explain the different flavours of inverted pendulum (e.g., springloaded and gravity compensated inverted pendulum), their viability for different situations (e.g., walking, running), simulation res...