This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...

A new development of a swing-tracking control algorithm for nonlinear inverted pendulum system presents in this paper. Sliding mode control technique is used and guided by Lyapunov stability criterion and tuned by Bees-slice genetic algorithm (BSGA). The main purposes of the proposed nonlinear swing-tracking controller is to find the best force control action for the real inverted pendulum mode...

The cart-and-pendulum system is a highly nonlinear and under-actuated system that is a great source of interest and motivation for researchers all over the world. There are various configurations of the cart-and-pendulum system that finds wide applications in areas of manufacturing, robotics and control. This paper presents an offline mode control of the Flexible Inverted Pendulum (FIP), which ...

A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pen...

This study compared the effects produced by two different molar distalizers, namely cervical headgear (CHG) and the intraoral pendulum appliance, associated with fixed orthodontic appliances. The headgear group comprised 30 patients (19 females, 11 males), with an initial age of 13.07 years [standard deviation (SD) = 1.3], treated with CHG and fixed orthodontic appliances for a mean period of 3...

Let h be a holomorphic function with h(0) = 1. The number of zeros of h on a disk centered at the origin can be controlled by the maximum value of |h| on a larger disk. This is a classical result in complex analysis that is sometimes called Jensen’s inequality (see for instance [4]). In [2] Il’yashenko and Yakovenko applied this result together with the theory of conformal mappings to count the...

We investigate the dynamics of an inverted pendulum subjected to Jacobi elliptic forcing both numerically and experimentally. In so doing, we hope to provide a coherent picture on stability of an inverted pendulum subjected to forcing that ranges from harmonic to nonharmonic in nature. We are able to determine the regions of stability of a sinusoidally forced inverted pendulum, with results sim...

The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of automatic control. In this paper two Neural Network controllers to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state are described. Both controllers are able to learn the demonstrated behavior which was swinging u...

We investigate the dynamics of the vertically forced Duffing oscillator with suspended tuned mass absorber. Three different types of tuned mass absorbers are taken into consideration, i.e., classical single pendulum, dual pendulum and pendulum-spring. We numerically adjust parameters of absorbers to obtain the best damping properties with the lowest mass of attached system. The modification of ...

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...