Abstract: The Rotary Inverted Pendulum (RIP) system is a significant classical problem of control engineering which has been investigated in the past decades. This study presents an optimum InputOutput Feedback Linearization (IOFL) cascade controller utilized Genetic Algorithm (GA). Due to the non-minimum phase behavior of the system, IOFL controller leads to unstable internal dynamics. Therefo...

Abstract: This paper presents a nonlinear controller for uncertain single-input–single-output (SISO) nonlinear systems. The adopted approach is based on the feedback linearization strategy and enhanced by a fuzzy inference algorithm to cope with modeling inaccuracies and external disturbances that can arise. The boundedness and convergence properties of the tracking error vector are analyticall...

Incremental processing is a promising way to improve the performance of natural language generation systems. It imposes speci c requirements upon the linearization process and its underlying representation formalism. In this work, we will discuss these requirements and present an extension of the TAG{formalism that has been developed and utilized for the incremental syntactic generator VM{GEN i...

In this lecture, we investigate the problem of exact linearization by feedback for multiple input multiple output systems. We will see that, when a “vector” relative degree exists, things go as smoothly as for SISO systems. To deal with the case when no relative degree exists, we will discuss the dynamic extension algorithm. This algorithm will help us choose a dynamic state feedback to make th...

The problems of swinging up an inverted pendulum on a cart and controlling it around the upright position have been traditionally treated as two separate problems. This paper proposes a strategy that is globally asymptotically stabilizing under actuator saturation and, in addition, locally exponentially stabilizing. The proposed methodology performs swing up and control simultaneously and uses ...

A global linearization of nonlinear input-output descriptions by relaxing the appropriate appearances of inputs, outputs and their derivatives is applied. The resulting time-varying linear systems are described by skew polynomial systems accepting most of the methods of ordinary polynomial systems. The properties like stability and controllability of nonlinear systems can be analyzed using the ...

This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system’s stability. Computer simulation results demonstrate that the propose...

This paper presents a quasi-static model-based control algorithm for controlling the motion of soft robotic exo-digit with three independent actuation joints physically interacting human finger. A analytical model physical interaction between and finger was developed. Then, presented as nonlinear discrete-time multiple-input multiple-output (MIMO) state-space representation system design. Input...