The use of Pyragas-Type controller proved interest in the stabilization of unstable periodic orbits. The stabilization problem of a balancing inverted pendulum on an horizontally moving cart by the use of such a controller is considered. The main objective of the paper is to propose delayed control law containing only proportional gains able to stabilize the inverted pendulum by avoiding the ex...

The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. A nonlinear heuristic controller and an energy controller have been implemented in order to swing the pendulum to...

A physical control problem is studied with the p methodology. The issues of modelling, uncertainty modelling, performance specification, controller design and laboratory implementation are discussed. The laboratory experiment is a double inverted pendulum placed on a cart. The limitations in the system with respect to performance are the limitation in the control signal and the limitation of th...

In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted...

This article presents a fuzzy sliding-mode control scheme for a class of Takagi-Sugeno (T-S) fuzzy which are subject to norm-bounded uncertainties in each subsystem. The proposed stabilization method can be adopted to explore T-S uncertain fuzzy systems (TSUFS) with various local control inputs. Firstly, a new design is proposed to transform TSUFS into sliding-mode dynamic systems.In addi...

The Cart-Inverted Pendulum System (CIPS) is a classical benchmark control problem. Its dynamics resembles with that of many real world systems of interest like missile launchers, pendubots, human walking and segways and many more. The control of this system is challenging as it is highly unstable, highly non-linear, non-minimum phase system and underactuated. Further, the physical constraints o...

This paper obtains feedback stabilization of an inverted pendulum on a rotor arm by the “method of controlled Lagrangians”. This approach involves modifying the Lagrangian for the uncontrolled system so that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the closed-loop system. For the closed-loop equations to be consistent with available control inpu...

This paper examines the development of a genetic adaptive fuzzy control system for the Inverted Pendulum. The inverted pendulum is a classical problem in Control Engineering, used for testing different control algorithms. The goal is to balance the inverted pendulum in the upright position by controlling the horizontal force applied to its cart. Because it is unstable and has a complicated nonl...

A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy whose potential energy has an opposite sign. Paying attention to the motions of the pendulum, the energy changes are analyzed theoretically. According to these analyses, the conditi...