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.

Theory of nonlinear resonance, including stochastic one, is developed on the basis of the statistical field theory and using variables action-angle. Explicit expressions of action, proper frequency and nonlinearity parameter as functions of the system energy and the external signal frequency are found for the cases of nonlinear pendulum and double well potential. PACS: 02.50.-r; 05.10.Gg; 05.45.-a

Abstract— The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only o...

An inverted pendulum fitted on the moving cart (IPMC) represents a class of nonlinear system and is inherently unstable. Stabilizing such nonlinear systems is still a challenging objective for control engineers. It is very difficult to keep the pendulum always in upright position as it is highly sensitive to even a small disturbance and tend to fall down. Hence, the objective of the control mec...

Model predictive control (MPC) includes a receding-horizon control techniques based on the process model for predictions of the plant output. Since late 1970’s several MPC approaches have been reported in the literature. Selection of the most appropriate MPC approach depend on the specific problem. In this paper, discrete time MPC is applied to a inverted pendulum system coupled to a cart. The ...

While simple models can be helpful in identifying basic features of muscle function, more complex models are needed to discern the functional roles of specific muscles in movement. In this paper, two very different models of walking, one simple and one complex, are used to study how muscle forces, gravitational forces and centrifugal forces (i.e. forces arising from motion of the joints) combin...