This paper deals with modelling, identification and simulation of the inverted pendulum PS600. This system is unstable and nonlinear with one input – voltage of a DC motor which can change position of the cart and two outputs – cart position and angle of the pendulum rod. First, a mathematical model of the inverted pendulum is derived, followed by identification of its unknown parameters. Then,...

A modified double inverted pendulum – modified by connecting the mass carrying the pendulum with another mass through a spring makes the general inverted pendulum become a more interesting problem. The system is defined as a linear spring connected double inverted pendulum as proposed by Hou et al. [1],[2]. The system is highly nonlinear and unstable. However, the system can be simplified to a ...

Capturability analysis of the linear inverted pendulum model (LIPM) enabled walking over even terrains based on the capture point. We generalize this analysis to the inverted pendulum model (IPM) and show how it enables 3D walking over uneven terrains based on capture inputs. Thanks to a tailored optimization scheme, we can compute these inputs fast enough for a real-time control loop. We imple...

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink...

One of the most important problems today is robotics and its control, due to the vast application of inverted pendulum in robots.In this paper, by using a combination of "PSO" Algorithms, we have tried to optimally control the inverted pendulum by nonlinear equations. Here particle swarm optimization algorithm is used to refining parameters of PID controller The results of this simulation has b...

This paper presents the application of discrete-time variable structure control with sliding mode based on the ‘reaching law’ method for robust control of a ‘simple inverted pendulum on moving cart’ a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is car...

Two-wheeled balancing robots based on inverted pendulum configuration which relies upon dynamic balancing systems for balancing and maneuvering. The idea of a mobile inverted pendulum robot has focused in recent years and has attracted interest from control system researchers worldwide, research on a two-wheel inverted pendulum, which commonly known as the self-balancing robot. In this, the DC ...

Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then the model is decoupled to two linear subsystems namely balancing and heading subsystems...