An integrated design of structure/controller for parallel inverted pendulum systems is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form rep...

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...

Known sufficient condition for stabilization of the controlled inverted pendulum under stochastic perturbations is improved via V.Kolmanovskii and L.Shaikhet general method of Lyapunov functionals construction.

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...

We study dynamics of the inverted pendulum on wheel a soft surface and under proportional-integral-derivative controller. The behaviour such is modelled by system with differential inclusion. If has sensor for rotational velocity pendulum, tilt encoder then this observable. using observed data controller brings stochastic perturbations into system. properties inclusion control studied upper pos...

We investigate experimentally liquid (oil) droplets vibrating over a bath of the same liquid and relate the phenomenon to the well-known effect of the stabilization of an inverted pendulum on a vibrating foundation (a “Kapitza pendulum”). Small fast vibrations can be substituted by an effective “levitation” force. We further discuss this effective stabilizing “spring force”. Besides the inverte...

This paper describes the method for trajectory tracking and balancing the Self Erecting Single Inverted Pendulum (SESIP) using Linear Quadratic Regulator (LQR). A robust LQR controller for stabilizing the SESIP is proposed in this paper. The first part of the controller is a Position Velocity (PV) controller to swing up the pendulum from its hanging position by moving the pendulum left and righ...

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...

Two-wheeled balancing robots based on inverted pendulum configuration which relies upon dynamic balancing systems for balancing and maneuvering. The idea of a mobile inverted pendulum robot has focused in recent years and has attracted interest from control system researchers worldwide, research on a two-wheel inverted pendulum, which commonly known as the self-balancing robot. In this, the DC ...