The purpose of this article is to perform an indepth analysis of the classical double inverted pendulum system using the Inverted Pendula Modeling and Control (IPMaC), a Simulink block library designed by the authors of the paper. The custom function blocks included in the IPMaC offer comprehensive program support for the modeling, simulation and control of classical and rotary inverted pendula...

Con lắc ngược quay kép là thống phi tuyến phức tạp bất ổn định một vào nhiềura (Single input – multi output - SIMO) được phát triển từ mô hình con quay(rotary inverted pendulum RIP) bậc vốn rất kinh điển trong điều khiển tự động(ĐKTĐ). Bài báo giới thiệu về việc xây dựng phương trình toán học, thiết kế thuật toánđiều cân bằng hệ môi trường phỏngMatlab/Simulink. Trong bài khảo sát này, nhóm tác ...

This paper presents the experimental implementation of a gradient-based nonlinear model predictive control (NMPC) algorithm to the swing-up control of a rotary inverted pendulum. The key attribute of the NMPC algorithm used here is that it only seeks to reduce the error at the end of the prediction horizon rather than finding the optimal solution. This reduces the computation load and allows re...

The paper presents using Differential Evolution (DE) and Shuffled Frog Leaping Algorithm (SFLA) to optimally tune parameters of a fuzzy logic controller stabilizing a rotary inverted pendulum system at its upright equilibrium position. Both the DE and SFLA are meta-heuristic search methods. DE belongs to the class of evolutionary algorithms while SFLA is inspired from the memetic evolution of a...

The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A co...

Gaining insight into possible vibratory responses of dynamical systems around their stable equilibria is an essential step, which must be taken before design and application. The results such a study can significantly help prevent instability in closed-loop stabilized by avoiding the excitation system neighborhood its resonance. This paper investigates nonlinear oscillations rotary inverted pen...