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...

This article presents a systematic approach to formulate and experimentally validate novel Complex Fractional Order (CFO) Linear Quadratic Integral Regulator (LQIR) design enhance the robustness of inverted-pendulum-type robotic mechanisms against bounded exogenous disturbances. The CFO controllers, an enhanced variant conventional fractional-order are realised by assigning pre-calibrated compl...

We examine two prevailing, yet surprisingly contradictory, theories of human walking. The six determinants of gait are kinematic features of gait proposed to minimize the energetic cost of locomotion by reducing the vertical displacement of the body center of mass (COM). The inverted pendulum analogy proposes that it is beneficial for the stance leg to behave like a pendulum, prescribing a more...

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with pre...

In this paper a real time control for swing-up stabilization of inverted pendulum is designed using Fuzzy logic. In the model proposed here a single rulebase is used to control both position and angle simultaneously during both swing-up and stabilization. The proposed fuzzy control scheme successfully fulfills the control objectives and also has an excellent stabilizing ability to overcome the ...

Several new types of regular and chaotic behavior of the parametrically driven pendulum are discovered with the help of computer simulations. A simple physical explanation is suggested to the phenomenon of subharmonic resonances. The boundaries of these resonances in the parameter space and the spectral composition of corresponding stationary oscillations are determined theoretically and verifi...

This experiment consists of a rigid link (pendulum) rotating in a vertical plane. The rigid link is attached to a pivot arm, which is mounted on the load shaft of a DC-motor. The pivot arm can be rotated in the horizontal plane by the DC-motor. The DC-motor is instrumented with a potentiometer. In addition, a potentiometer is mounted on the pivot arm to measure the pendulum angle. The principal...