In the present work, implementation of continuous-time high frequency periodic controller is done for stabilization of non-minimum phase system having both right half plane (RHP) pole and zero. This work considers nonminimum phase cart-inverted pendulum system as a test bench. The robustness property of the periodic controller is compared with that of a linear quadratic regulator (LQR) and slid...

Learning to control dynamic systems with unknown models is a challenging research problem. However, most previous work that learns qualitative control rules does not construct qualitative states | a proper partition of continuous state variables has to be designed by human users and given to the learning programs. We design a new learning method that learns appropriate qualitative state represe...

In naval engineering and related disciplines, it is common for dynamic models of the human body to be used in conjunction with quantitative records of body and ship motions, in order to study human balance behaviour while performing various shipboard activities. Research in this area can lead to improvements in ship operations and designs that improve crew safety and efficiency. This paper pres...

During bipedal gait, a robot falls from one foot to the other. This motion can be approximated with that of an inverted pendulum with discrete movements of the contact point. We detail here how to use the linear inverted pendulum model (LIPM) for selecting successive contact points in such a way that the centre of mass (COM) of the robot flexibly follows a predefined set of waypoints on a strai...

This paper presents an optimal shape trajectory planner for shape-accelerated underactuated balancing systems, which are destabilized by gravitational forces. These systems have unactuated shape variables and fully actuated external variables. They also have the same number of actuated and unactuated degrees of freedom. Their equations of motion result in nonholonomic acceleration/dynamic const...

Mnesors are defined as elements of a semimodule over the min-plus integers. This two-sorted structure is able to merge graduation properties of vectors and idempotent properties of boolean numbers, which makes it appropriate for hybrid systems. We apply it to the control of an inverted pendulum and design a full logical controller, that is, without the usual algebra of real numbers. "Thus the t...

A common issue with many system identification problems is that the true input to the system is unknown. In this paper, a framework, based on indirect input measurements, is proposed to solve the problem when the input is partially or fully unknown, and cannot be measured directly. The approach relies on measurements that indirectly contain information about the unknown input. The resulting ind...

The major promise of computational technology for learning is in making discovery and acquisition of knowledge accessible to a wider range of people. The protean expressive and constructive nature of computational technology facilitates more powerful and effective learning methodologies. Enabling multiple forms of representation through computational approaches to thinking about various phenome...

The center of mass (CoM) is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion: straight lin...

In this thesis, we studied the act-and-wait control mechanism on the stabi-lization of the inverted pendulum in both piecewise constant feedback andcontinuously varying feedback models. We also extend the act-and-wait con-trol mechanism with a more general model: the act-and-wait control withfrequently varying feedback, which includes piecewise constant feedback andcontinuou...