Sliding mode control is quickly becoming a popular research ...eld due to the several favorable qualities, including robustness. Linear quadratic control has been one of the more popular and more traditional control techniques, partially due to the ease of implementation and its optimality quality. In this paper, we provide an introduction to sliding mode control. A technique is suggested to al...

Intermittent predictive pole-placement control is successfully applied to the constrained-state control of a prestabilised experimental inverted pendulum.

Reinforcement learning has been active research area not only in machine learning but also in control engineering, operation research and robotics in recent years. It is a model free learning control method that can solve Markov decision problems. Q-learning is an incremental dynamic programming procedure that determines the optimal policy in a step-by-step manner. It is an online procedure for...

this paper presented comparison of the time specification performance between two type of controller for a Double Inverted Pendulum system. Double Inverted Pendulum is a non-linear ,unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The objective is to determine th...

This paper investigates the implementation of a pendulum-driven cart-pole system through wireless networks. The system is underactuated since the only control input is the motor which drives the pendulum movement while the cart has free movement wheels. An onboard client PC controls the torque to the motor, whilst a host PC monitors progress and controls the demand to the motor. The two PCs hav...

This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium con5guration using energy control principles. An “energy well” is built within the cart track to prevent the cart fro...

The aim of this study was to compare the kinetic and kinematic characteristics of plyometric drop-jump and pendulum exercises. Exercises were filmed (100 Hz) from the sagittal view and manually digitized; the data were smoothed and differentiated using cross-validated quintic splines. Ground reaction force data were sampled using a Kistler force platform sampling at 500 Hz. Differences between ...

Algorithms which guarantee to find globally optimal trajectories by covering a hypervolume of state space become infeasible in high dimensions. We have developed an algorithm which generates locally optimal trajectories without covering a hypervolume which only requires polynomial memory and time. Even though the algorithm does not guarantee a globally optimal trajectory in a deterministic mann...

In this paper a real time control for swing-up stabilization of inverted pendulum is designed using Fuzzy logic. In the model proposed here a single rulebase is used to control both position and angle simultaneously during both swing-up and stabilization. The proposed fuzzy control scheme successfully fulfills the control objectives and also has an excellent stabilizing ability to overcome the ...

Model Predictive Control (MPC) is applied to a pendulum system consisting of a pendulum and a cart. The objective of the MPC-controller is to steer the system towards precalculated trajectories that move the system from one operating point to another. The sample time of the controller sets hard limitations on the execution time of the optimization routine in the MPC-controller. The optimization...