The inverted-pendulum method of thrust measurement for high-power electric thrusters is described analytically and experimentally. Two sources of uncertainty in the thrust measurements are investigated: those due to changes in the sensitivity of the inverted pendulum and those due to tare forces resulting from thermal stresses and electromagnetic forces acting on the flexural elements. An ideal...

Article history: Received 28 September 2016 Received in revised form 4 November 2016 Accepted 7 November 2016 Available online 13 November 2016 This project presents an application of a robust controller based on the "QParameterization" theory to control the motion of the common and well known problem in control engineering the " Two-Wheeled Inverted Pendulum" (TWIP). This controller is applied...

Article history: Received 22 October 2010 Received in revised form 11 November 2011 Accepted 11 November 2011 Available online xxxx 0045-7906/$ see front matter Crown Copyright doi:10.1016/j.compeleceng.2011.11.007 ⇑ Corresponding author. E-mail addresses: [email protected] (S. Soyg Please cite this article in press as: Soyguder S with SLIP model. Comput Electr Eng (2011), d In this study,...

The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper describes 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. Both controllers are able to learn the demonstrated behavior which was swinging up and balancing t...

In this paper, we consider the solution of the control problem using the Mixed Logical Dynamical approach for inverted pendulum system. This approach is well adapted to hybrid systems because of its ability to address several issues such as model predictive control (MPC) of hybrid systems. Two topics are addressed: First, we start by proposing Mixed Logical Dynamical (MLD) formalism for the inv...

This paper proposes a method of robust optimal stabilization for balance systems such as rocket and missile systems, Segway human transportation systems, and inverted pendulum systems. Constant-gain controllers such as linear-quadratic regulators may not guarantee stability let alone optimality for balance systems affected by parametric variations. The robust stability and robust performance ac...

In this study, we propose to simulate the center of mass trajectory during walking using a tridimensional Extended Inverted Pendulum model. For the single support trajectory simulation, we consider a modified tridimensional inverted pendulum introducing the forward displacement of its pivot point as the center of pressure translation. The model introduces a representation of the double support ...

Forwarding is a tool for constructing stabilizers for nonlinear systems. A key step in this design technique is to find an explicit solution to a partial differential equation (PDE), which may be hard to find—actually, the PDE may even not be solvable at all. In this brief note we show that it is possible to provide an additional degree of freedom for the solution of the aforementioned PDE, hen...

For 3D walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion i s constrained to move along an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (SD-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern genemtion are discus...

This paper presents a possible way to control the a very fast nonlinear systems. The system of the inverted pendulum was chosen as an exemplar process. This is an example of the nonlinear single-input multi-output process with a sampling period in order of milliseconds. The state-space predictive control was chosen as a control method and the system is described by CARIMA model. The whole proce...