1 Department of Electronic Engineering, Wufeng Institute of Technology 117, Sec., Chian-Kuo Road, Ming-Hsiung, Chiayi 621, Taiwan 640, R.O.C. 2 Department of Electrical Engineering, National Chiayi University 300, Syuefu Road, Chiayi, Taiwan 60004, R.O.C 3 Department of Materials Science and Engineering, National Chiao-Tung University 1001, Ta Hsueh Road, Hsinchu, Taiwan 300, R.O.C. 4 Departmen...

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 ...

This paper includes a review of three physics simulation packages that can be used to provide researchers with a virtual ground for modeling, implementing and simulating complex models, as well as testing their control methods with less cost and time of development. The inverted pendulum model was used as a test bed for comparing ODE, DANCE and Webots, while Linear State Feedback was used to co...

The purpose of this paper is to present the design and program implementation of a general procedure which yields the mathematical model for a classical or rotary inverted pendulum system with an arbitrary number of pendulum links. Lagrange equations of the second kind with an integrated Rayleigh dissipation function are employed in model design, and the energetic balance relations, derived for...

In this paper, taking the inverted pendulum as an example of nonlinear systems which are not exactly linearizable, we give a controller design method for the system based on the approximate linearization. In the method, we try to suppress the e ect of the higher order residual terms in choosing the new coordinate for the approximate linearization. Furthermore, we show its e ectiveness by experi...

Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...

Inverted pendulum models are commonly used to study the bio-mechanics of biped walkers. In its simplest form, the inverted pendulum consists of a point mass attached to two straight mass-less legs. Most works constrain the motion of the mass to the sagittal plane, i.e. the plane perpendicular to the ground that contains the direction toward the biped is walking. In this article, we remove this ...

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BACKGROUND Inverted papilloma involving the temporal bone is an extremely rare occurrence. Reports in the literature suggest a higher recurrence rate and association with squamous cell carcinoma in Schneiderian-type papillomas of the middle ear than in sinonasal Schneiderian-type papillomas. OBJECTIVES To investigate the expression of apoptosis-related proteins, markers of cell proliferation ...

PURPOSE To discuss the treatment and outcomes of inverted papilloma of the nasal cavity and paranasal sinuses. METHODS Review of the pertinent literature. RESULTS Inverted papilloma is a benign, locally aggressive neoplasm that arises in the nasal cavity and is associated with squamous cell carcinoma in approximately 5% of patients. Squamous cell carcinoma may be present with inverted papil...