A device laboratory was designed to create a commanded disturbance to the Furuta inverted pendulum. This pendulum was modified by adding a second inverted pendulum coupled to the main one by means of a semi-rigid spring. The induced motion on the second inverted pendulum causes displacement of the center of mass of the system, producing a kind of perturbation similar to that presented on mobile...

The theory behind small amplitude movement of a single pendulum is stated, followed by the construction of a simple example of a coupled pendulum with two degrees of freedom including the unidirectional movement of the structure and the pendulum angle in relation to vertical. These models and the finite elements software SAP 2000 are also applied to a single and to a multiple degree of freedom ...

Problem statement: The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. It was used for testing various design control techniques and in teaching modern control. The objectives of this study were to: (i) Develop a real rotary inverted pendulum which derived the mechanical model by using Euler-Lagrange and (ii) Design controller ...

The purpose of this paper is to present the design and program implementation of expansions made to the existing general algorithmic procedure which yields the mathematical model for a classical inverted pendulum system with an arbitrary number of pendulum links. The expansions include the option to define the reference position of the pendulum in a planar coordinate system, to choose the refer...

As a precursor to capsize, marginal stability, resulting from incorrect loading conditions and crew negligence, poses a serious danger to ships. Therefore, as a benchmark problem for preventing capsize, the use of an actively controlled pendulum for the stabilization of a marginally stable ship was analyzed. Lyapunov stability criteria and closed loop eigenvalues were used to evaluate the exten...

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed t...

This paper proposes a swing-up control scheme for a cart-type single pendulum having a serial second pendulum as a parasitic part. The proposed control scheme swings up the first pendulum with controlling the motion of a cart and being robust to the parasitic part. In the swing-up, the second pendulum is swinging at the top of the first pendulum and the motion of the second pendulum works as st...

This paper presents the hardware implementation of a neural network controller for controlling an inverted pendulum system on an x-y plane robot. The inverted pendulum system can move on an x-y plane while balancing the angle of the pendulum. Neural network algorithm is implemented on a cost effective DSP board in association with an FPGA chip. The reference compensation technique of neural net...

This paper aims at the applications of natural frequency of inverted pendulum and Takagi-Sugeno (TS) fuzzy control in the swing up and stabilization of Rotary inverted pendulum (RIP) respectively. RIP is one of the important multivariable system in control to test the performance of any controller due to its nonlinear, unstable, non-minimum phase and under actuated nature. Many techniques based...

For double inverted pendulum multivariable, strong coupling and nonlinear proposed adaptive fuzzy neural inference system (ANFIS) is applied inverted pendulum stabilization control process. Adaptive control algorithm, fully able to meet the requirements of double inverted pendulum control, ANFIS system after training, will be applied to the inverted pendulum system controller has better control...