We present a switching approach for the stabilization of the strongly damped inverted pendulum cart system, provided that the pendulum is initialized inside of the upper-half plane, and the linear viscous force is known. The control strategy uses two stabilizing controllers. The first is a nonlinear controller, devoted to bringing the pendulum very close to its unstable equilibrium point. Then,...

The objective is to design a complete control system for the Swing-up and Stabilizing Control of cart inverted pendulum. In particular, this work outlines the effectiveness of a particular Swing-up method based on feedback linearization and Total Energy Shaping (TES) considerations. The basic idea to solve the problem of driving the pendulum from down or any to upright position has been always ...

Abstract We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we stabilization of an inverted pendulum on a cart using force cart. This system is easy to stabilize with angle feedback. However, position feedback it cannot be stabilized stable and proper compensators. Here, demonstrate that additional compensator parallel feedforwa...

one of the most important applications of multi-objective optimization is adjusting parameters ofpractical engineering problems in order to produce a more desirable outcome. in this paper, the decoupled sliding mode control technique (dsmc) is employed to stabilize an inverted pendulum which is a classic example of inherently unstable systems. furthermore, a new multi-objective particle swarm o...

iii ACKNOWLEDGEMENTS First and foremost I owe my deepest gratitude to my advisor and mentor, Prof. David G. Taylor for mentoring me and supporting me throughout my thesis for the last one year. This thesis would not have been possible unless it was for his patience, motivation, enthusiasm and immense knowledge of the subject matter. Besides my advisor, I would like to thank Prof. Yorai Wardi fo...

A new multibody dynamics model, that is referred to as a chain pendulum on a cart, is presented. It is composed of an arbitrarily number of rigid links that are serially connected by spherical joints, and a cart that is moving in a horizontal plane. This yields rich dynamic structures on the nonlinear configuration manifold that is comprised of the copies of the unit-sphere and the two dimensio...