One of the most important applications of multi-objective optimization is adjusting parameters ofpractical engineering problems in order to produce a more desirable outcome. In this paper, the decoupled sliding mode control technique (DSMC) is employed to stabilize an inverted pendulum which is a classic example of inherently unstable systems. Furthermore, a new Multi-Objective Particle Swarm O...

The paper adresses the problem of stabilization of a speci"c target position of underactuated Lagrangian or Hamiltonian systems. We propose to solve the problem in two steps: "rst to stabilize a set with the target position being a limit point for all trajectories originating in this set and then to switch to a locally stabilizing controller. We illustrate this approach by the well-known exampl...

In this paper, a nonlinear model predictive swing-up and stabilizing sliding controller is proposed for an inverted pendulum-cart system. In the swing up phase, the nonlinear model predictive control is formulated as a nonlinear programming problem with energy based objective function. By solving this problem at each sampling instant, a sequence of control inputs that optimize the nonlinear obj...

The paper presents two different ways of mathematical modeling of Inverted Pendulum. A Proportional-Integral-Derative (PID) controller is designed for its stabilization. Some reference stable system is selected after designing of PID controller to optimize different types of error using Genetic Algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masse...

In the classical control theory literature, the inverted pendulum stabilization problem has been addressed in two ways: as an application of the vibrational control principle, or by imagining that the pivot is on a cart moved according to a suitable feedback law. Several other stabilization methods have been recently proposed. In this paper we propose a new approach: the pendulum is assembled o...

Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with gravity coupling and large deformations, because of inherent underactuation and the combination of lumped and distributed parameters of a nonlinear system. In...

This note describes two problems related to the digital implementation of control laws in the infinite dimensional family of matching control laws, namely state estimation and sampled data induced error. The entire family of control laws is written for an inverted pendulum cart. Numerical simulations which include sampled data and a state estimator are presented for one of the control laws in t...

Model predictive control (MPC) includes a receding-horizon control techniques based on the process model for predictions of the plant output. Since late 1970’s several MPC approaches have been reported in the literature. Selection of the most appropriate MPC approach depend on the specific problem. In this paper, discrete time MPC is applied to a inverted pendulum system coupled to a cart. The ...