The inverted pendulum is a canonical problem in both Nonlinear Dynamics and Control Theory. In this article, the phenomenon of dynamic stabilization of the vertically driven inverted pendulum is investigated experimentally and numerically. We resolve the first stabilizing boundary in driving parameter space, as well as investigate the effects of frictional damping on the dynamics of the pendulu...

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...

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...

Backstepping control technique is a Lyapunov based nonlinear robust technique which is applicable to only strict feedback system. Backstepping technique has been applied on linear inverted pendulum which is under actuated system. Inverted pendulum is swung from its pendant position and stabilized at its upright position. Swing up is achieved by nonlinear backstepping controller but the linear i...

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...

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...

In this paper, we calculate a low order model of linear system large dimension, that matches set high moments the transfer function and achieves pole-zero placement constraints. The satisfying all constraints simultaneously is selected from family parametrized reduced models. parameters are computed solving an explicit algebraic system. Furthermore, construct Loewner matrices given data imposed...

The paper considers and analyzes the existing methods of controlling systems with a deficit control actions. Based on analysis, it was decided to use linear controllers feedback state vector system compare these - modal linear-quadratic. For study, dynamic model chosen, which is an inverted 2-degree freedom (2DOF) pendulum mounted cart. By iterative method, acceptable generalized coordinates th...

In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for stabilization of underactuated robotic systems. The finite time employed to estimate exterior disturbances system and develop law. proposed controller can regulate state trajectories systems origin within in existence external disturbances. stability analysis scheme verified ...