Copyright © 2016 Frontiers of Current Trends in Engineering and Technology, ACET 21 Abstract: The Cart-Inverted Pendulum System (CIPS) is a classical benchmark control problem. The control of this system is challenging as it is highly unstable, highly non-linear, non-minimum phase system and under actuated. The basic control objective of the inverted pendulum is to maintain the unstable equili...

This paper describes a procedure for incorporating artificial gyroscopic forces in the method of controlled Lagrangians. These energy-conserving forces provide additional freedom to expand the basin of stability and tune closed-loop system performance. We also study the effect of physical dissipation on the closed-loop dynamics and discuss conditions for stability in the presence of natural dam...

The challenge in the swing-up problem of double inverted pendulum on a cart (DIPC) is to design a controller that bring all DIPC's states, especially the joint angles of the two links, into the region of attraction of the desired equilibrium. This paper proposes a new method to swing-up DIPC based on a series of restto-rest maneuvers of the first link about its vertically upright configuration ...

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...

We present a switching approach for the stabilization of the strongly damped inverted pendulum cart system, provided that the pendulum is initialized inside of the upper-half plane, and the linear viscous force is known. The control strategy uses two stabilizing controllers. The first is a nonlinear controller, devoted to bringing the pendulum very close to its unstable equilibrium point. Then,...

The “inverted pendulum problem” is perhaps the most widely used benchmarking study to assess the effectiveness of emerging control design techniques. In this paper the “Backpropagation Through Time” learning method is used to train a multilayer perceptron neural network to control an actual physical system, consisting in a pendulum free to pivot on a cart, which is moved by a DC motor within a ...

In this paper, the decoupled neural network reference compensation technique (DRCT) is applied to the control of a two degrees-of-freedom inverted pendulum mounted on an x-y table. Neural networks are used as auxiliary controllers for both the x axis and y axis of the PD controlled inverted pendulum. The DRCT method known to compensate for uncertainties at the trajectory level is used to contro...

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...

Many control engineers found the inverted pendulum on a moving cart very interesting and intriguing because many control principles can be shown. Two examples are to balance a stick on the end of one’s finger and the other one is to balance a rocket during liftoff. This is a highly non-linear system but for simplicity purposes the overall system is linearized making some assumptions. Therefore,...