We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart which can move in one dimension. There is stick slip friction between the cart and the track on which it moves. Using two different models for this friction we design feedback controllers to stabilize the pendulum in the upright position. We show that controllers based on either ...

This paper will show that a “simple” differential equation modeling a garden-variety damped forced pendulum can exhibit extraordinarily complicated and unstable behavior. While instability and control might at first glance appear contradictory, we can use the pendulum’s instability to control it. Such results are vital in robotics: the forced pendulum is a basic subsystem of any robot. Most of ...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

Inverted pendulum is a non-linear, multivariable and unstable device, a model predictive control (MPC) performance evaluation and tuning method for inverted pendulum device is proposed. MPC was designed to control the inverted pendulum device, and the minimum variance covariance constrained control (MVC) was applied to evaluate the performance of the MPC controller and tune its parameters. The ...

In this paper the dynamics of the controlled pendulum is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by a piecewise constant control force which is the linear combination of the sampled values of the angle and the angular velocity of the pendulum. The control force is provided by a motor which drives one of the wheels of the cart through a...

In this study, a real-time control of the cart-pole inverted pendulum system was developed using fuzzy logic controller. Swing-up and stabilization of the inverted pendulum were implemented directly in fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment was embedded in a dSPACE DS1103 DSP controller board. Swing-up algorithm brings the pendulum near to...

This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...

Multiple model methods for nonlinear dynamical system control are appealing because local models can be simple and obvious, global dynamics studied in terms of transitions between small operating zones. In this study, we propose that using qualitative strengthens the multiple method even more by enabling each to explain a huge class effective systems. Furthermore, reasoning reveals weak necessa...

A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pen...

This study compared the effects produced by two different molar distalizers, namely cervical headgear (CHG) and the intraoral pendulum appliance, associated with fixed orthodontic appliances. The headgear group comprised 30 patients (19 females, 11 males), with an initial age of 13.07 years [standard deviation (SD) = 1.3], treated with CHG and fixed orthodontic appliances for a mean period of 3...