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

In recent years, Particle Swarm Optimization has evolved as an effective global optimization algorithm whose dynamics has been inspired from swarming or collaborative behavior of biological populations. In this paper, PSO has been applied to Triple Link Inverted Pendulum model to find its reduced order model by minimization of error between the step responses of higher and reduced order model. ...

In this paper the dynamics of the controlled pendulum is investigated assuming backlash and time delays. The upper equilibrium of the pendulum is stabilized by a piecewise constant control force which is the linear combination of the sampled values of the angle and the angular velocity of the pendulum. The control force is provided by a motor which drives one of the wheels of the cart through a...

In this study, a multi-objective artificial bee colony (MOABC) optimization algorithm was utilized to improve the performance of an adaptive robust control technique. This approach is implemented using inverted pendulum system. More precisely, proposed controller combination decoupled sliding-mode (DSMC) and adaptation laws based on gradient descent approach. To achieve optimum operation, MOABC...

A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pen...

Orbital stabilization of an underactuated cart-pendulum system is under study. The quasihomogeneous control synthesis is utilized to design a second order sliding mode controller that drives the actuated cart to a periodic reference orbit in finite time, while the non-actuated pendulum produces bounded oscillations. A modified Van der Pol oscillator is introduced into the synthesis as an asympt...

This study presents a Linear Quadratic Optimal (LQR) controller design for an inverted pendulum on a cart using the Artificial Bee Colony (ABC) algorithm. Main design parameters of the linear quadratic regulator are the weighting matrices. Generally, selecting weighting matrices is managed by trial and error since there exists no apparent connection between these weights and time domain require...

We develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled Lagrangians. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. The Euler–Lagrange equations derived from the controlled Lagrangian describe the closed-loop system, where new terms in...

This paper presents a possible way to control the a very fast nonlinear systems. The system of the inverted pendulum was chosen as an exemplar process. This is an example of the nonlinear single-input multi-output process with a sampling period in order of milliseconds. The state-space predictive control was chosen as a control method and the system is described by CARIMA model. The whole proce...

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...