The strategies involved in swinging up and balancing the inverted pendulum are discussed. The nonlinear swing-up controller drives the system input according to the energy of the pendulum. The balancing controller is a digital linear quadratic regulator that is based on a model of the plant that has been linearized about the pendulum’s upright equilibrium position. Relays with hysteresis are em...

The problem of stabilizing the double inverted pendulum has been solved using two different techniques which were the Pole Placement and Linear Quadratic Regulator techniques to design controls for the system. Copyright c ©2003 Yang’s Scientific Research Institute, LLC. All rights reserved.

Recent research efforts are considering the problem of performing control of dynamical systems over wireless sensor and actuator networks. However, existing results lack an experimental evaluation in real platforms. In this demonstration an inverted pendulum system is controlled over an IEEE 802.15.4 wireless sensor and actuator network. This platform can evaluate several sensor networks and co...

Introduction There remains some disagreement on the source of anterior ground reaction forces (Fx) in normal gait. For some, a passive "roll-off" results from the position of the body’s center-ofmass (COM) forward of its base of support [1], and to others, an active "push-off" results from plantarflexion power generation at the ankle [2]. The former theory essentially models the body as an inve...

The Spring-Loaded Inverted Pendulum (SLIP) model has been established both as a very accurate descriptive tool as well as a good basis for the design and control of running robots. In particular, approximate analytic solutions to the otherwise nonintegrable dynamics of this model provide principled ways in which gait controllers can be built, yielding invaluable insight into their stability pro...

In this paper, we present Fuzzy Neural Network (FNN) structure and the back-propagation process, which tunes the weighting factors of FNN such that its output can follow the desired signal. Then they are applied to design an FNN controller to let the pole of an inverted pendulum be as vertical as possible. Simulation results show that the proposed approach produces better responses than the fuz...

INTRODUCTION The aim of this work was to analyze the occurrence of inverted papilloma within the nose and paranasal sinuses, the extent of lesions and the clinical course in the patients who underwent endoscopic surgery. MATERIALS AND METHODS Between the years of 2006-2012, at the Department of Otolaryngology and Laryngological Oncology, 2295 patients were subjected to surgery due to paranasa...

The purpose of this article is to perform an indepth analysis of the classical double inverted pendulum system using the Inverted Pendula Modeling and Control (IPMaC), a Simulink block library designed by the authors of the paper. The custom function blocks included in the IPMaC offer comprehensive program support for the modeling, simulation and control of classical and rotary inverted pendula...

BACKGROUND High-resolution microendoscopy (HRME) enables real-time imaging of epithelial tissue. The utility of this novel imaging modality for inverted papilloma has not been previously described. This study examines the ability of otolaryngologists to differentiate between images of inverted papilloma and normal sinonasal mucosa obtained with a HRME. METHODS Inverted papilloma and normal si...