This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendu...

In order to explore the essence of structural controllability, structural controllability of inverted pendulum is analyzed in this presented study and a sufficient controllability condition of a class of perturbed linear system is obtained, which is essential to prove the structural controllability for the perturbed inverted pendulum. Two different structured models of inverted pendulum are con...

_ 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...

The problem of swinging the Furuta pendulum up is usually solved by a hybrid controller where the global problem is broken down into two steps. First, an injection of energy leads the pendulum near the upright position. Then the pendulum is stabilized at this position. In this paper, different control strategies for both problems are analyzed both by simulation and using an actual laboratory pe...

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...

In this note we will derive the equations of motion for a compound pendulum being driven by external motion at the center of rotation. A compound pendulum is a pendulum consisting of a single rigid body rotating around a fixed axis. In contrast to the simple pendulum we studied in class, a compound pendulum can have an arbitrary distribution of mass, which means that it better models real-world...

In this paper a pendulum of two degrees of freedom is investigated, i.e. a spherical pendulum which is attached to the end effector of an industrial robot manipulator. The result of the presented research is a controllable transport of the pendulum in all three dimensions. That means a real time control of the pendulum during all the time of the transport and a stable reaction of suddenly chang...

The inverted pendulum is a canonical problem in both Nonlinear Dynamics and Control Theory. In this article, the phenomenon of dynamic stabilization of the vertically driven inverted pendulum is investigated experimentally and numerically. We resolve the first stabilizing boundary in driving parameter space, as well as investigate the effects of frictional damping on the dynamics of the pendulu...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

This paper describes a preliminary investigation into the use of normal form theory for modelling large non-linear dynamical systems. Limit cycle oscillations are determined for simple two-degree-of-freedom double pendulum systems. The double pendulum system is reduced into its centre manifold before computing normal forms. Normal forms are obtained using a period averaging method which is appl...