This article gives a practical overview of the popular biomechanically inspired, computationally efficient, algorithmically straightforward inverted pendulum technique for character-based systems. We explain the different flavours of inverted pendulum (e.g., springloaded and gravity compensated inverted pendulum), their viability for different situations (e.g., walking, running), simulation res...

An information processing investigation was performed to quantify the Chevreul pendulum effect: the tendency of a small pendulum, when suspended from the hand and imaginatively concentrated on, to oscillate seemingly of its own accord. Using a time exposure photographic measurement technique, electronically automated visual and auditory imaginal prompts were presented to the subject during imag...

Backstepping control technique is a Lyapunov based nonlinear robust technique which is applicable to only strict feedback system. Backstepping technique has been applied on linear inverted pendulum which is under actuated system. Inverted pendulum is swung from its pendant position and stabilized at its upright position. Swing up is achieved by nonlinear backstepping controller but the linear i...

The rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively for control performance evaluation in under-actuated mechanisms. The H∞ control invoking Linear Matrix Inequality (H∞-LMI) has been also wide employed for linear control design. This paper deals with the feasibility ofH∞-LMI technique to stabilize the rotary inverted pendulum around its unstable equilibrium p...

X–Z inverted pendulum is a new kind of inverted pendulum and it can move with the combination of the vertical and horizontal forces. In this paper, the control problem of X-Z inverted pendulum with system uncertainties is addressed, and a pair of decoupled adaptive fuzzy sliding mode control method is proposed. The fuzzy logic system is employed to approximate the system uncertainties as well a...

This study presents an energy level stabilization algorithm for the pendulum on a cart system with restricted cart track length. The objective is to bring the pendulum to its unstable equilibrium. To do so the energy level of the pendulum is increased or decreased by accelerating the cart in the appropriate direction while keeping within imposed limit positions. To achieve, the equation of moti...

The purpose of this paper is to present the design and program implementation of a general procedure which yields the mathematical model for a classical or rotary inverted pendulum system with an arbitrary number of pendulum links. Lagrange equations of the second kind with an integrated Rayleigh dissipation function are employed in model design, and the energetic balance relations, derived for...

The double pendulum is a classic system in the study of chaos. We have explored the double pendulum experimentally, and compared results to a numerical simulation. This comparison was done in the time it takes for the second arm of the pendulum to ”flip,” based on initial starting conditions. We also performed analyis of the vertically driven case.

We investigate a variation of the simple double pendulum in which the two point masses are replaced by square plates. The double square pendulum exhibits richer behavior than the simple double pendulum and provides a convenient demonstration of nonlinear dynamics and chaos. It is also an example of an asymmetric compound double pendulum, which has not been studied in detail. We obtain the equil...

−Inverted Pendulum is a well established benchmark problem that produces many challenges to a control engineer. It is a nonlinear, unstable, non minimumphase and under actuated system.Itrequires a controller which canadapt in different disturbance conditions and work appreciably well when compared to conventional controllers. In this paper Interval type-2 Fuzzy logic controllerfor inverted pend...