Double Inverted Pendulum is a nonlinear system, unstable and fast reaction system. Double Inverted Pendulum is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The aim of the paper is to design and performance analysis of the double inverted pendulum and simulation of Linear Quadratic Regulator (LQR) con...

In this article we discuss the primliminary results of stabilising a vertically driven pendulum. Following the brief introduction on the importance of this ‘toy’ problem, we give an account of the experimental set up. We then explain the parameter extraction from the experimental data which form a cucial part of our quantitative study. We also find the stability boundary for a small range of dr...

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...

Over the course of a few decades, the pendulum problem has become a prime example in the instruction of many concepts in linear and nonlinear dynamics. Particularly, the inverted pendulum has been illuminating in the areas of dynamical stability and control. Our intent with this dynamics problem was to explore the stability of the inverted state while vertically driving the pivot point. Forcing...

BP Neural Network has a longer training time and a slow convergence. To deal with the defects of BP Neural Network a modified BP algorithm is proposed in the paper. The algorithm is applied for the control of Inverted Pendulum, a highly non linear system inherently being open loop unstable. Levenberg-Marquardt algorithm is used for the training purpose. The training samples are being collected ...

The Inverted Pendulum is one of the most important classical problems of Control Engineering. In this paper, a real-time control for stabilization of inverted pendulum is developed using PID controller. The implementation platform chosen here is FPGA because it exhibits some superior qualities over traditional processors such as parallel processing capability, high sampling rates, flexibility i...

A cart with two independent inverted pendula, called a dual-inverted-pendulum system, is analyzed and compared to the single-inverted-pendulum system using classical linear methods. Using only the angles of the pendula and the position of the cart, a classical controller is designed that stabilizes the pendula in the inverted position with the cart at the center of the track. Simulations of the...

This paper concerns active vibration damping of a frictionless physical inverted pendulum with a radially moving mass. The motion of the inverted pendulum is restricted to an admissible set. The proposed Proportional Derivative linear controller damps the inverted pendulum (which is anchored by a torsion spring to keep it in a stable upright position), excerting a force on the radially moving m...

In this paper modeling of an inverted pendulum is done using Euler – Lagrange energy equation for stabilization of the pendulum. The controller gain is evaluated through state feedback and Linear Quadratic optimal regulator controller techniques and also the results for both the controller are compared. The SFB controller is designed by Pole-Placement technique. An advantage of Quadratic Contro...

In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechan...