In this paper, a nonlinear model predictive swing-up and stabilizing sliding controller is proposed for an inverted pendulum-cart system. In the swing up phase, the nonlinear model predictive control is formulated as a nonlinear programming problem with energy based objective function. By solving this problem at each sampling instant, a sequence of control inputs that optimize the nonlinear obj...

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 ...

This paper considers fundamental constraints that exist in the control of an inverted pendulum system. The inverted pendulum system is a single input two output (SITO) system which has an unstable pole. The limitations that are developed use several diierent techniques to show the diiculties in the control of this system. The analysis has applications in the control of SITO systems that have un...

This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in t...

A novel approach to design fuzzy controllers using fuzzy-arithmetic-based Lyapunov function that gives a linguistic description on the plant and the control objective is presented in this paper. An inverted pendulum system is used as a benchmark dynamic nonlinear plant for evaluating the proposed method. It is shown that a set of stable fuzzy control rules can be derived from perception-based i...

In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted...

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...

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...