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...

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...

in the present research, susceptibility of two strawberry cultivars (selva and gavita) to bruising was studied. individual fruits were subjected to impact and compressive forces. impact forces were applied through dropping the fruits from predetermined heights as well as pendulum. bruising volume was considered as damage index. in both methods bruising severity was increased as a function of im...

The society is aging and therefore there is a need for new mobile and reliable health monitoring systems. An idea of such wireless, stretchable and mobile health monitoring platform has been developed. It consists of a wireless stretchable, biocompatible sensor tag placed on the skin and an RFID reader collecting and evaluating all the data, which are then shown on the display. Introduction The...

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...

In this article we discuss the primliminary results of stabilising a vertically driven pendulum. Following the brief introduction on the importance of this ‘toy’ problem, we give an account of the experimental set up. We then explain the parameter extraction from the experimental data which form a cucial part of our quantitative study. We also find the stability boundary for a small range of dr...

The purpose of this paper is to present the design of a complete control strategy for the classical and rotary single inverted pendulum system. The design, which involves swing-up and stabilization of both systems, is based on function blocks and GUI tools from the Inverted Pendula Modeling and Control, a Simulink block library developed by the author of the paper. Keywords—classical single inv...

The basic adiabatic theorems of classical and quantum mechanics are overviewed and an adiabatic theorem in quantum mechanics without a gap condition is described. 1 Classical Adiabatic Invariants Consider a (mathematical) pendulum whose period is slowly modulated, for example by shortening the length of the pendulum, fig 1, [1, 18]. Figure 1: An adiabatic pendulum The Hamiltonian describing the...

I. PROBLEM FORMULATION The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum attached to the end of the arm moving freely in the vertical plane, see Fig. 1. The equations of motion of the Furuta pendulum, derived from the standard Euler-Lagrange dynamics, are1 (α + β sin θ)φ̈ + γ cos θθ̈ + 2βθ̇φ̇ sin θ cos θ − γθ̇ sin θ = τφ, γ cos θφ̈ + βθ̈ − βφ̇ sin θ cos θ − δ sin θ ...