Abstract This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education....

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...

BP Neural Network has a longer training time and a slow convergence. To deal with the defects of BP Neural Network a modified BP algorithm is proposed in the paper. The algorithm is applied for the control of Inverted Pendulum, a highly non linear system inherently being open loop unstable. Levenberg-Marquardt algorithm is used for the training purpose. The training samples are being collected ...

In this paper, a fuzzy controller for an inverted pendulum system is presented in two stages. These stages are: investigation of fuzzy control systemmodeling methods and solution of the “Inverted Pendulum Problem” by using Java programming with Applets for internet based control education. In the first stage, fuzzy modeling and fuzzy control system investigation, Java programming language, clas...

In this paper, we will propose a nonlinear passivity based controller fur a double inverted pendulum system, consisting of a two-link pendulum mounted on a pad which is moved by a linear induction motor so that the double pendulum points straight-up The proposed controller nut only can drive the double pendulum from its “natural stable hanging position” tu its “unstable upright inverted positio...

The paper presents two different ways of mathematical modeling of Inverted Pendulum. A Proportional-Integral-Derative (PID) controller is designed for its stabilization. Some reference stable system is selected after designing of PID controller to optimize different types of error using Genetic Algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masse...

This paper investigates the design and analysis of three controllers used to stabilize an inverted pendulum on a cart. This is accomplished by decomposing each control algorithm into two separate phases: swing-up control and stabilization control. A classical, H2, and H∞ design are each considered to stabilize a nominal linearized model of the inverted pendulum on a cart in the upward vertical ...

This paper summarizes the mechanical and control design concepts of an inverted or unstable pendulum where stabilization is achieved by a moment exchange generated by a controlled symmetric rotation of a rotational inertia attached to the pendulum. The proposed design of the pendulum has a fixed bottom rotation or point of support as opposed to the usual vertically or horizontally moving point ...

This paper concerns active vibration damping of a frictionless physical inverted pendulum with a radially moving mass. The motion of the inverted pendulum is restricted to an admissible set. The proposed Proportional Derivative linear controller damps the inverted pendulum (which is anchored by a torsion spring to keep it in a stable upright position), excerting a force on the radially moving m...

In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechan...