A new fuzzy controller for stabilization control of inverted pendulum systems is presented based on the Single Input Rule Modules (SIRMs) dynamically connected fuzzy inference model. The fuzzy controller has four input items, each with a SIRM and a dynamic importance degree. The SIRMs and the dynamic importance degrees are designed such that pendulum angular control has priority over cart posit...

In this paper modeling of an inverted pendulum is done using Euler – Lagrange energy equation for stabilization of the pendulum. The controller gain is evaluated through state feedback and Linear Quadratic optimal regulator controller techniques and also the results for both the controller are compared. The SFB controller is designed by Pole-Placement technique. An advantage of Quadratic Contro...

A non-driven double pendulum model is used to explain the principle underlying the surprising efficiency of the golf swing. The principle can be described as a parametric energy transfer between the arms and the club head due to the changing moment of inertia of the club. The transfer is a consequence of conservation of energy and angular momentum. Because the pendulum is not driven by an exter...

New types of regular and chaotic behaviour of the parametrically driven pendulum are discovered with the help of computer simulations. A simple qualitative physical explanation is suggested to the phenomenon of subharmonic resonances. An approximate quantitative theory based on the suggested approach is developed. The spectral composition of the subharmonic resonances is investigated quantitati...

The inverted pendulum is a highly nonlinear and open loop unstable system. To develop an accurate model of the inverted pendulum, different linear and nonlinear methods of identification will be used. However one of the problems encountered during modeling is the collection of experimental data from the inverted pendulum system. Since the output data from the unstable system does not show enoug...

This paper presents an approach for the swing up and stabilization of a rotary inverted pendulum (RIP). RIP system is an unstable, multi-variable, under actuated and highly nonlinear in nature. RIP consists of a pivot arm, the pivot arm rotates in a horizontal plane by means of a servo motor. The opposite end of the arm is attached to the pendulum rod whose axis is along the radial direction of...

The coupled interaction between a sloshing fluid in a partially-filled container suspended as a bifilar pendulum is investigated. The sloshing fluid has a free-surface upon which waves are generated this fluid contributes a restoring force to the container motion by its weight through the wire suspensions and the free-surface waves may either enhance or diminish the restoring force through hydr...

This paper gives a detailed analysis of the physics of simple pendulum and the equations governing the motion and velocity. The pendulum works in three modes: simple, damped and driving and driving only. The signatures are evaluated and simulated by the means of four different approaches: Euler method, Euler-Cromer method, 2 nd order Runge-kutta method and built-in ODE-23 matlab solver. The sim...

Simple and bifilar pendulum were used to measure the mass moments of inertia of three tennis rackets. The pendulum setups were filmed using an off-the-shelf camcorder, with a stopwatch in view to provide timing data. The measurement accuracy was assessed using calibration rods of known mass moment of inertia. The simple pendulum method was found to be most accurate (<1.0 % difference to theoret...

Falling is the leading cause of both fatal and nonfatal injury in the elderly, often requiring expensive hospitalization and rehabilitation. We study the stability of human balance during stance using inverted singleand double-pendulum models, accounting for physiological reflex delays in the controller. The governing second-order neutral delay differential equation (NDDE) is transformed into a...