A new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at unstable equilibrium point. The architecture deduced from a trivial conversion of state-feedback that obtained using two-step method. First, based on set cart change variables, slightly modified developed. Then, through judicious combination s...

An inverted pendulum on a cart (IPC) system, which is widely used test environment for controller design due to ease of applicability, has the opportunity be applied in different fields with nonlinear and under-actuated characteristics. In this study, performance explicit MPC control method been examined against noise disturbances by using two cases analysis approaches. Different trajectory tra...

In order to guarantee real time, a simple control method is presented to stabilize the fast-moving systeminverted pendulum. The method was obtained by mathematical derivation based on the dynamical model of the inverted pendulum system, but the control strategy is independent of the model. It is applicable for controlling other multi input single output plants besides inverted pendulum. A contr...

_ Inverted pendulum control is one of the fundamental and interesting problems in the field of control theory. This paper describes the steps to design various controllers for a rotary motion inverted pendulum which is operated by a rotary servo plant, SRV 02 Series. Nonlinear model of the rotary inverted pendulum and linear model (Upright) in the neighborhood of an equilibrium state are descri...

We describe an algorithm for computing the value function for “all source, single destination” discrete-time nonlinear optimal control problems together with approximations of associated globally optimal control strategies. The method is based on a set oriented approach for the discretization of the problem in combination with graph-theoretic techniques. The central idea is that a discretizatio...

This paper considers the trajectory tracking control of linear inverted pendulum (IP) system. First the linearized model of IP is derived to facilitate the control design. To avoid non robust reaching phase, integral sliding mode control (ISMC) has been proposed but single variable case is tested. Linear IP is a multivariable system having angle of pendulum and position of cart are two variable...

The probabilistic Random Access Memory (pRAM) is a biologically-inspired model of a neuron. The pRAM behaviour is described in this paper in relation to binary and real-valued input vectors. The pRAM is hardware-realisable, as is its reinforcement training algorithm. The pRAM model may be applied to a wide range of artificial neural network applications, many of which are classification tasks. ...

With the recent interest in closed-loop control using standard wireless networks, there is need for accurate network modelling to study the dynamic interaction between the network protocol and the control system. We present a co-simulation tool, written as a C MEX S-function within Simulink, that emulates a networked control system (NCS) with mixed-traffic stations on an IEEE 802.11b wireless n...

Abstract: Performance control law is studied for an interconnected fractional nonlinear system. Applying a backstepping algorithm, a backstepping sliding mode controller (BSMC) is developed for fractional nonlinear system. To improve control law performance, BSMC is coupled to an adaptive sliding mode observer have a filtered error as a sliding surface. The both architecture performance is stud...

This document describes the Sequential Alternating Least Squares (SeALS) tool developed in MATLAB. Five examples are included – scalar unstable system, smooth two dimensional system, an inverted pendulum on a moving cart, a VTOL aircraft, and a quadcopter – to illustrate the use of SeALS. The theoretical background of this tool is given by [1]. The tool is available at [2]. The rest of this doc...