Abstract: The Rotary Inverted Pendulum (RIP) system is a significant classical problem of control engineering which has been investigated in the past decades. This study presents an optimum InputOutput Feedback Linearization (IOFL) cascade controller utilized Genetic Algorithm (GA). Due to the non-minimum phase behavior of the system, IOFL controller leads to unstable internal dynamics. Therefo...

Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller ...

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...

The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. This paper presents hybrid control method for swing up and LQR control method for the stabilization. The flexibility of the hybrid control method based on the selection of heuristic swing up controller and energy swing up controller at the different positions of pendulum. The ...

The rotary inverted pendulum (RIP) has been used in various control application areas. This system can be represented as two degree of freedom (2-DOF), consisting a rotating arm and rod. RIP is an excellent example designing single-input multi-output (SIMO) system. Due to unstable dynamics, its nonlinear model, multiple techniques have this paper uses integer fractional order proportional integ...

The rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively for control performance evaluation in under-actuated mechanisms. The H∞ control invoking Linear Matrix Inequality (H∞-LMI) has been also wide employed for linear control design. This paper deals with the feasibility ofH∞-LMI technique to stabilize the rotary inverted pendulum around its unstable equilibrium p...

Abstract: Problem statement:This paper presents an overview of a controller for a Rotational Inverted Pendulum (RIP) based on a New Recurrent Neural Network (NRNN) using Internal Model control (IMC). The RIP consists of a DC servo motor, arm and pendulum. The RIP is modelled in MATLAB/Simulink and the simulation results are shown besides the experimental results. The proposed experiment shows i...

This paper introduces a new scheme for sliding mode control using symmetry principles rotating inverted pendulum, with the possibility of extension this to other dynamic systems. was proven swing up and stabilisation problems via both simulations experiments rotary pendulum (RIP) underactuated According Lyapunov theory, section compensated scale error in upright position, as desired trajectory ...

Nowadays, Reinforcement Learning (RL) is applied to various real-world tasks and attracts much attention in the fields of games, robotics, autonomous driving. It very challenging devices overwhelming directly apply RL environments. Due reality gap simulated environment does not match perfectly scenario additional learning cannot be performed. Therefore, an efficient approach required for find o...

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...