A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy whose potential energy has an opposite sign. Paying attention to the motions of the pendulum, the energy changes are analyzed theoretically. According to these analyses, the conditi...

This paper aims at the applications of natural frequency of inverted pendulum and Takagi-Sugeno (TS) fuzzy control in the swing up and stabilization of Rotary inverted pendulum (RIP) respectively. RIP is one of the important multivariable system in control to test the performance of any controller due to its nonlinear, unstable, non-minimum phase and under actuated nature. Many techniques based...

We present a detailed account of our 2004 experiment to measure the Newtonian constant of gravitation with a suspended laser interferometer. The apparatus consists of two simple pendulums hanging from a common support. Each pendulum has a length of 72 cm and their separation is 34 cm. A mirror is embedded in each pendulum bob, which then in combination form a Fabry-Perot cavity. A laser locked ...

Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we are working on 2D inverted pendulum stabilized with scissored pair control moment gyroscopes. This is fair approximation allowing us to study the dynamics in simplified settings. In this paper propose model for pendulum; neglects all unessential terms and thus suitable analysis. We also simple law based linearization ...

We propose two simple controls for the regulation of an under actuated rotational pendulum. Both controllers are based on the Lyapunov approach; the first is a simple passive control which makes the closed-loop solution converges asymptotically to an equilibrium manifold. The second approach is a combination of the Lyapunov and the off-line trajectory planning approaches to move the pendulum fr...

We propose two simple controls for the regulation of an under actuated rotational pendulum. Both controllers are based on the Lyapunov approach; the first is a simple passive control which makes the closed-loop solution converges asymptotically to an equilibrium manifold. The second approach is a combination of the Lyapunov and the off-line trajectory planning approaches to move the pendulum fr...

This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...