It was demonstrated in 1964 by F.W. Smith and B. Widrow that a neural network used as an adaptive controller could be trained to stabilize an inverted pendulum fixed to a non-stationary platform or cart (the "broom-balancer"). The critical state variables (pendulum angle, pendulmn angular velocity, cart position, cart velocity) were measured and fed to the system in digital form. An unrealized ...

Changes in operating conditions can alter performances of nonlinear processes controlled with a fixed PID algorithm. One way of preventing degradation is to develop a supervised control system. In this paper we present some results about fuzzy gain scheduling of a double PID controller for stabilization of an inverted pendulum on a cart. First, on the basis of the responses obtained with an uns...

This paper deals with a recent design of event-driven observer-based smart sensors for output feedback control of linear systems. We re-design the triggering mechanism proposed in a previously reported system with the implementation of self-sampling data smart sensors; as a result, we improve its performance. Our approach is theoretically supported by using Lyapunov theory and numerically evide...

In this paper, a method for the tuning the membership functions of a Mamdani type Fuzzy Logic Controller (FLC) using the Clonal Selection Algorithm(CSA) a model of the Artificial Immune System(AIS) paradigm is examined. FLC’s are designed for two problems, firstly the linear cart centering problem and secondly the highly nonlinear inverted pendulum problem. The FLC tuned by AIS is compared with...

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...

Humans face the task of balancing dynamic systems near an unstable equilibrium repeatedly throughout their lives. The task of inverted pendulum (stick) balancing (Fig. 1a) is an increasingly popular paradigm of studying human control behavior in such situations [1]. In particular, much research has been aimed at understanding the mechanisms of discontinuous, or intermittent control in the conte...

A technique to achieve output tracking for nonminimum phase nonlinear systems with nonhyperbolic internal dynamics is presented. The present paper integrates stable inversion techniques (that achieve exact-tra@ing) with approximation techniques (that modify the internal dynamics) to circumvent the nonhyperbolicity of the internal dynamics this nonhyperbolicity is an obstruction to applying pres...