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 expansions made to the existing general algorithmic procedure which yields the mathematical model for a classical inverted pendulum system with an arbitrary number of pendulum links. The expansions include the option to define the reference position of the pendulum in a planar coordinate system, to choose the refer...

We consider the problem of feedback control when the controller is constructed solely of deterministic spiking neurons. Although spiking neurons and networks have been the subject of several previous studies, analysis has primarily been restricted to a firing rate model. In contrast, we construct a spike timing based deterministic spiking neuron controller whose control output is one or multipl...

This paper proposes a method of robust optimal stabilization for balance systems such as rocket and missile systems, Segway human transportation systems, and inverted pendulum systems. Constant-gain controllers such as linear-quadratic regulators may not guarantee stability let alone optimality for balance systems affected by parametric variations. The robust stability and robust performance ac...

Forwarding is a tool for constructing stabilizers for nonlinear systems. A key step in this design technique is to find an explicit solution to a partial differential equation (PDE), which may be hard to find—actually, the PDE may even not be solvable at all. In this brief note we show that it is possible to provide an additional degree of freedom for the solution of the aforementioned PDE, hen...

For 3D walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion i s constrained to move along an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (SD-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern genemtion are discus...

Araç üzerinde konumlu Ters Sarkaç, çeşitli kontrol yöntemlerinin uygulanması ve performanslarının karşılaştırılması adına, akademik anlamda yaygın olarak kullanılmaktadır. Kararsız lineer olmayan yapıdaki sistem bozucuları ölçüm gürültüleri karşısında, duyarlı kırılgan yapıdadır. Bozuculara sensör gürültüsüne maruz kalmak, sistemlerinin performansını olumsuz etkilemekte kalitesinin düşmesine se...

In this paper, the feasibility of a Control Moment Gyroscope (CMG) as balance assistance device is investigated. An inverted pendulum is used as experimental set-up. Our initial results show that it is possible to maintain balance within a 4 degrees range from vertical.