Log in

Relevant bibliographies by topics / INVERTED PENDULUM SYSTEM / Journal articles

To see the other types of publications on this topic, follow the link: INVERTED PENDULUM SYSTEM.

Journal articles on the topic 'INVERTED PENDULUM SYSTEM'

Author: Grafiati

Published: 11 September 2023

Last updated: 25 July 2025

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the top 50 journal articles for your research on the topic 'INVERTED PENDULUM SYSTEM.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Browse journal articles on a wide variety of disciplines and organise your bibliography correctly.

1

Mesa, F., R. Ospina Ospina, and D. M. Devia-Narvaez. "Methodology of robust inverted pendulum controllers on a vehicle." Journal of Physics: Conference Series 2102, no. 1 (2021): 012012. http://dx.doi.org/10.1088/1742-6596/2102/1/012012.

Full text

Abstract:

Abstract In the theory of controllers, the simple and inverted pendulum play an important role due to the equations that result from them, which imply non-linearities and perturbations, thus, in this article, a brief classification of inverted pendulums is presented: inverted pendulum, inverted double pendulum, inverted rotary pendulum (Furuta pendulum). Subsequently, a mathematical model of the inverted pendulum is described through the deduction of the equations of motion that represent the dynamics of the system. Robust control is presented that allows expanding the richness of the mathemat

APA, Harvard, Vancouver, ISO, and other styles

2

Fahmizal, Geonoky, and Hari Maghfiroh. "Rotary Inverted Pendulum Control with Pole Placement." Journal of Fuzzy Systems and Control 1, no. 3 (2023): 90–96. http://dx.doi.org/10.59247/jfsc.v1i3.152.

Full text

Abstract:

The inverted pendulums are multivariable and highly unstable dynamic systems. The inverted pendulum has been used to answer many modern control and control system designs because it has several problems relating to the system model of nonlinearity, difficulty, and inactivity. In this research, the main topic is the rotatory inverted pendulum. Circular path to eliminate the path that is on the pendulum that is traversed by the transversal path. In this paper, the Inverted Rotatory Pendulum is analyzed by state feedback which is adjusted by pole placement. The result of design selection in the s

APA, Harvard, Vancouver, ISO, and other styles

3

Nasim, Shahzad, M. Javeed, M. Shafiq, Faraz Liaquat, and Zain Anwar Ali. "Self-Erected Inverted Pendulum." Advanced Materials Research 816-817 (September 2013): 415–19. http://dx.doi.org/10.4028/www.scientific.net/amr.816-817.415.

Full text

Abstract:

The basic theme of this research paper is self-erecting the inverted pendulum by via ARDUINO controller and stabilizes the system through PID algorithm of linear control system. ARDUINO controller acquires the data from the sensors in terms of position and angle of the pendulum and commands the motor through PWM signal after that swing the pendulum from rest position to get and balance the inverted position. Controller read the pendulums angular position through potentiometer then calculates and removes errors via PID algorithm. MATLAB-Simulink and LABVIEW sent and receives runtime information

APA, Harvard, Vancouver, ISO, and other styles

4

Wang, Yujue, Weining Mao, Qing Wang, and Bin Xin. "Fuzzy Cooperative Control for the Stabilization of the Rotating Inverted Pendulum System." Journal of Advanced Computational Intelligence and Intelligent Informatics 27, no. 3 (2023): 360–71. http://dx.doi.org/10.20965/jaciii.2023.p0360.

Full text

Abstract:

The rotating inverted pendulum is a nonlinear, multivariate, strongly coupled unstable system, and studying it can effectively reflect many typical control problems. In this paper, a parameter self-tuning fuzzy controller is proposed to perform the balance control of a single rotating inverted pendulum. Particle swarm optimization is used to adjust its control parameters, and simulation experiments are performed to show that the system can achieve stability with the designed parametric self-tuning fuzzy controller, with control performance better than that of the conventional fuzzy controller.

APA, Harvard, Vancouver, ISO, and other styles

5

Sultan, Ghassan A., and Ziyad K. Farej. "Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System." Circulation in Computer Science 2, no. 9 (2017): 1–5. http://dx.doi.org/10.22632/ccs-2017-252-45.

Full text

Abstract:

Double inverted pendulum (DIP) is a nonlinear, multivariable and unstable system. The inverted pendulum which continually moves toward an uncontrolled state represents a challenging control problem. The problem is to balance the pendulum vertically upward on a mobile platform that can move in only two directions (left or right) when it is offset from zero stat. The aim is to determine the control strategy that deliver better performance with respect to pendulum's angles and cart's position. A Linear-Quadratic-Regulator (LQR) technique for controlling the linearized system of double inverted pe

APA, Harvard, Vancouver, ISO, and other styles

6

PAGANO, DANIEL, LUIS PIZARRO, and JAVIER ARACIL. "LOCAL BIFURCATION ANALYSIS IN THE FURUTA PENDULUM VIA NORMAL FORMS." International Journal of Bifurcation and Chaos 10, no. 05 (2000): 981–95. http://dx.doi.org/10.1142/s0218127400000700.

Full text

Abstract:

Inverted pendulums are very suitable to illustrate many ideas in automatic control of nonlinear systems. The rotational inverted pendulum is a novel design that has some interesting dynamics features that are not present in inverted pendulums with linear motion of the pivot. In this paper the dynamics of a rotational inverted pendulum has been studied applying well-known results of bifurcation theory. Two classes of local bifurcations are analyzed by means of the center manifold theorem and the normal form theory — first, a pitchfork bifurcation that appears for the open-loop controlled system

APA, Harvard, Vancouver, ISO, and other styles

7

Chawla, Ishan, and Ashish Singla. "ANFIS based system identification of underactuated systems." International Journal of Nonlinear Sciences and Numerical Simulation 21, no. 7-8 (2020): 649–60. http://dx.doi.org/10.1515/ijnsns-2018-0005.

Full text

Abstract:

AbstractIn this work, the effectiveness of the adaptive neural based fuzzy inference system (ANFIS) in identifying underactuated systems is illustrated. Two case studies of underactuated systems are used to validate the system identification i. e., linear inverted pendulum (LIP) and rotary inverted pendulum (RIP). Both the systems are treated as benchmark systems in modeling and control theory for their inherit nonlinear, unstable, and underactuated behavior. The systems are modeled with ANFIS using the input-output data acquired from the dynamic response of the nonlinear analytical model of t

APA, Harvard, Vancouver, ISO, and other styles

8

Lastomo, Dwi, Herlambang Setiadi, and Muhammad Ruswandi Djalal. "Design Controller of Pendulum System using Imperialist Competitive Algorithm." INTEK: Jurnal Penelitian 4, no. 1 (2017): 53. http://dx.doi.org/10.31963/intek.v4i1.94.

Full text

Abstract:

Due to development of technology in recent years, complexity and nonlinearity of mechanical and electrical system are increasing significantly. Inverted pendulum is nonlinear system that has become popular in recent years. However, inverted pendulum is nonlinear and unstable system. Therefore appropriate design controller of inverted pendulum system is crucial. Hence, this paper proposed, design of inverted pendulum system based on imperialist competitive algorithm (ICA). In order to design the controller, dynamic model of inverted pendulum system is used. Time domain simulation is used to add

APA, Harvard, Vancouver, ISO, and other styles

9

Li, Wen Ping, and Li Qiang Wu. "Synthesized ADRC for One-Level Inverted Pendulum System through Combination of Separating and Assembling." Applied Mechanics and Materials 490-491 (January 2014): 794–97. http://dx.doi.org/10.4028/www.scientific.net/amm.490-491.794.

Full text

Abstract:

Inverted pendulum system is the ideal study object of nonlinear system. The ADRC has good estimate for disturbances, strong robustness and using static decoupling instead of dynamical decoupling. The one-level inverted pendulum system can be regarded as composing of the pendulum angel system and the cart position system. The former is faster and the later is slower. The synthesized ADRC for one-level inverted pendulum system is built through combination of separating and assembling to reduce difficulty in optimizing ADRC parameters of the inverted pendulum system. The synthesized controller is

APA, Harvard, Vancouver, ISO, and other styles

10

Zhang, Jiao Long, and Wei Zhang. "Adaptive Fuzzy Sliding Mode Control for Uncertain Inverted Pendulum System." Applied Mechanics and Materials 273 (January 2013): 683–88. http://dx.doi.org/10.4028/www.scientific.net/amm.273.683.

Full text

Abstract:

Firstly, the mathematical model of inverted pendulum system is created. Taking into account the uncertainty of inverted pendulum system external disturbances, adaptive fuzzy sliding mode controller is proposed with sliding mode control (SMC) theory and fuzzy logic theory. This controller can weaken the impact of uncertainty through fuzzification of the switching gain, Owing to Fuzzy approximation of the inverted pendulum system equations for an inverted pendulum with unknown parameters, this system achieve the adaptive control and optimize the control action. Secondly, inverted pendulum system

APA, Harvard, Vancouver, ISO, and other styles

11

Cao, Xu, Nian Feng Li, and Hua Xun Zhang. "Robust Controller Design for Inverted Pendulum System." Advanced Materials Research 631-632 (January 2013): 1342–47. http://dx.doi.org/10.4028/www.scientific.net/amr.631-632.1342.

Full text

Abstract:

For the high order, unstable, multivariable, nonlinear and strong coupling characteristics, robust stability is an important indicator of inverted pendulum system. In this paper an LQR robust controller of inverter pendulum system is designed. The simulation and the experimental results showed that the stability of the robust LQR controller is better than the original LQR controller. When the system departure counterpoise for all kinds of reasons, it get back equilibrium state without depleting any energy, and approach state of equilibrium of all state component.

APA, Harvard, Vancouver, ISO, and other styles

12

Gao, Qiang, and Yi Li. "Generalized Predictive Control for Rotary Inverted Pendulum System." Applied Mechanics and Materials 130-134 (October 2011): 4256–60. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.4256.

Full text

Abstract:

Inverted pendulum system is a complex, multivariable, nonlinear, strong-coupling, unstable system of high order. Compared with the straight-line inverted pendulum, rotary inverted pendulum is more complicated and unstable. In this paper, the mathematic model of a rotary inverted pendulum system is analyzed and deduced detailedly by applying the Lagrange method; the control properties and characteristics of generalized predictive control are researched with matlab simulation. Finally, the results of the experiment prove the system controlled by GPC has a better stability and quickness.

APA, Harvard, Vancouver, ISO, and other styles

13

Sun, Qian Lai, and Zhi Yi Sun. "A Simple Control Strategy to Stabilize an Inverted Pendulum System." Advanced Materials Research 433-440 (January 2012): 3997–4002. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.3997.

Full text

Abstract:

A simple control strategy is presented to control An inverted pendulum. The control strategy is obtained via mathematical derivation based on the dynamical model of the inverted pendulum system. That control law is simple and independent of the model of the controlled plant. It is applicable for the multi input single output systems similar to inverted pendulum systems. A controller based on that method was designed to control an inverted pendulum. The structure of the controller is simple. And the parameter adjusting is relatively easy. Then the simulation study was realized. The simulation r

APA, Harvard, Vancouver, ISO, and other styles

14

Li, Yongsheng, Jiahui Feng, Ruei-Yuan Wang, Ho-Sheng Chen, and Yongzhen Gong. "Study on Control of Inverted Pendulum System Based on Simulink Simulation." International Journal of Advanced Engineering Research and Science 10, no. 12 (2023): 01–09. http://dx.doi.org/10.22161/ijaers.1012.1.

Full text

Abstract:

This study aims to conduct control research on an inverted pendulum system using the Simulink simulation platform. The inverted pendulum system is a classic nonlinear dynamic system with important theoretical and practical applications. Firstly, establish a mathematical model of the inverted pendulum system, including the dynamic equation of the pendulum rod and the sensor measurement model. Subsequently, the PID (proportional integral differential) controller design method based on the inverted pendulum system and the fuzzy PID controller design methods were verified through simulation experi

APA, Harvard, Vancouver, ISO, and other styles

15

Le, Hiep Dai, and Tamara Nestorović. "Integral Linear Quadratic Regulator Sliding Mode Control for Inverted Pendulum Actuated by Stepper Motor." Machines 13, no. 5 (2025): 405. https://doi.org/10.3390/machines13050405.

Full text

Abstract:

Stabilization and tracking problems for cart inverted pendulums under disturbances and uncertainties have posed significant challenges for control engineers. While various controllers have been designed for an inverted pendulum, they often overlook the calibration error of the pendulum angle in practical implementations, which degrades the control performance. Incorrect calibration of the pendulum angle in upright equilibrium position generates an offset of cart position errors. To solve this problem, an augmented model comprising integral cart position errors was first constructed. Afterwards

APA, Harvard, Vancouver, ISO, and other styles

16

Abdul Kareem, Ali Fawzi, and Ahmed Abdul Hussein Ali. "Robust Stability Control of Inverted Pendulum Model for Bipedal Walking Robot." Al-Nahrain Journal for Engineering Sciences 23, no. 1 (2020): 81–88. http://dx.doi.org/10.29194/njes.23010081.

Full text

Abstract:

This paper proposes robust control for three models of the linear inverted pendulum (one mass linear inverted pendulum model, two masses linear inverted pendulum model and three masses linear inverted pendulum model) which represents the upper, middle and lower body of a bipedal walking robot. The bipedal walking robot is built of light-weight and hard Aluminum sheets with 2 mm thickness. The minimum phase system and non-minimum phase system are studied and investigated for inverted pendulum models. The bipedal walking robot is programmed by Arduino microcontroller UNO. A MATLAB Simulink syste

APA, Harvard, Vancouver, ISO, and other styles

17

Ou, Qun Yong. "The Design of Real-Time Control System Based on Single-Inverted Pendulum." Advanced Materials Research 850-851 (December 2013): 553–56. http://dx.doi.org/10.4028/www.scientific.net/amr.850-851.553.

Full text

Abstract:

An inverted pendulum is a classic control problem and is widely used as a benchmark for testing various control algorithms. First, this paper analyse the dynamic and non-linear model of the inverted pendulum, then focus on the real-time control of the inverted pendulum, we developed real-time control software for the single-stage inverted pendulum by using Visual C++ 2010, its mainly operate API functions to control board and implement various control algorithms.

APA, Harvard, Vancouver, ISO, and other styles

18

Samiee, Ahmad. "Optimal Control Comparisons on a Flywheel Based Inverted Pendulum." Mapta Journal of Mechanical and Industrial Engineering (MJMIE) 3, no. 1 (2019): 18–26. http://dx.doi.org/10.33544/mjmie.v3i1.108.

Full text

Abstract:

This paper introduces a comparison between two optimal controllers on a flywheel-based inverted pendulum. Inverted pendulums have an essential place in developing under-actuation nonlinear control schemes due to their nonlinear structure. This system is a basic structure for many advanced systems such as biped and mobile wheeled robots. Optimal controllers addressed in this paper consist of State-Dependent Riccati Equation (SDRE) and Linear Quadratic Regulator (LQR). A Proportional–Integral–Derivative controller (PID) is also designed and tested in the simulation. One axis self-balancing flywh

APA, Harvard, Vancouver, ISO, and other styles

19

Siradjuddin, Indrazno, Zakiyah Amalia, Erfan Rohadi, et al. "State-feedback control with a full-state estimator for a cart-inverted pendulum system." International Journal of Engineering & Technology 7, no. 4.44 (2018): 203. http://dx.doi.org/10.14419/ijet.v7i4.44.26985.

Full text

Abstract:

A Cart Inverted Pendulum System is an unstable, nonlinear and underactuated system. This makes a cart inverted pendulum system used as a benchmark for testing many control method. A cart must occupy the desired position and the angle of the pendulum must be in an equilibrium point. System modeling of a cart inverted pendulum is important for controlling this system, but modeling using assumptions from state-feedback control is not completely valid. To minimize unmeasured state variables, state estimators need to be designed. In this paper, the state estimator is designed to complete the state-

APA, Harvard, Vancouver, ISO, and other styles

20

Wang, Hong Qi. "Dynamics Modeling of the Planar Double Inverted Pendulum." Applied Mechanics and Materials 195-196 (August 2012): 17–22. http://dx.doi.org/10.4028/www.scientific.net/amm.195-196.17.

Full text

Abstract:

planar double inverted pendulum is a strong coupling, uncertain and complex nonlinear system, and the dynamics model of which is the basis of control, simulation and analysis. In the paper coordinate systems of the planar double inverted pendulum were first defined, and then the dynamics model of which was built up based on screw theory and the Lagrange principle. The modeling method used being systematic and standardized, it is easy to extend to dynamics modeling of higher order planar inverted pendulums or other multi-body systems.

APA, Harvard, Vancouver, ISO, and other styles

21

Monir, Md. "Analyzing and Designing Control System for an Inverted Pendulum on a Cart." European Scientific Journal, ESJ 14, no. 6 (2018): 387. http://dx.doi.org/10.19044/esj.2018.v14n6p387.

Full text

Abstract:

It is a collection of MATLAB functions and scripts, and SIMULINK models, useful for analyzing Inverted Pendulum System and designing Control System for it. Automatic control is a growing field of study in the field of Mechanical Engineering. This covers the proportional, integral and derivative (PID). The principal reason for its popularity is its nonlinear and unstable control. The reports begin with an outline of research into inverted pendulum design system and along with mathematical model formation. This will present introduction and review of the system. Here one dimensional inverted pen

APA, Harvard, Vancouver, ISO, and other styles

22

Li, Ai Lian, Hong Yu Qi, and Li Liang. "Based on T-S Fuzzy Classification of the Double Inverted Pendulum Multi Mode Adaptive Control." Advanced Materials Research 902 (February 2014): 300–305. http://dx.doi.org/10.4028/www.scientific.net/amr.902.300.

Full text

Abstract:

Double Inverted pendulum as an important object of study on robotics and aviation field, is also a major platform for teaching and scientific research.Usually double Inverted pendulum modeling is usually will be linearized processing system, ignoring the effect of the angle of system. But the realization of double inverted pendulum is a nonlinear system, the angle affect the stability control. From the actual situation of double Inverted pendulum motion, double Inverted pendulum system of the input space is divided into 9 sub-space, by T-S fuzzy and feedback gain matrix to select the correspon

APA, Harvard, Vancouver, ISO, and other styles

23

Zhai, Xiao Hua, Shu Xia Yao, and Zhi Hui Xu. "Research on Fuzzy Control of Inverted Pendulum in the MATLAB Environment." Applied Mechanics and Materials 182-183 (June 2012): 1211–14. http://dx.doi.org/10.4028/www.scientific.net/amm.182-183.1211.

Full text

Abstract:

Inverted Pendulum is a typical system with multivariate, nonlinear system. Research on inverted pendulum can be attributed to research on nonlinear multivariate absolutely unstable system. Its control methods and ideas have an extensive usage. In this paper, a fuzzy controller is introduced to control single inverted pendulum system, and the performance characteristic of this system is also introduced. The control result of the inverted pendulum is good, the oscillation is small. Research result indicated that the control performance of fuzzy control is to select good membership function and d

APA, Harvard, Vancouver, ISO, and other styles

24

Tin, Phu Tran, Tran Hoang Quang Minh, Tran Thanh Trang, and Nguyen Quang Dung. "Using real interpolation method for adaptive identification of nonlinear inverted pendulum system." International Journal of Electrical and Computer Engineering (IJECE) 9, no. 2 (2019): 1078–89. https://doi.org/10.11591/ijece.v9i2.pp1078-1089.

Full text

Abstract:

In this paper, we investigate the inverted pendulum system by using real interpolation method (RIM) algorithm. In the first stage, the mathematical model of the inverted pendulum system and the RIM algorithm are presented. After that, the identification of the inverted pendulum system by using the RIM algorithm is proposed. Finally, the comparison of the linear analytical model, RIM model, and nonlinear model is carried out. From the results, it is found that the inverted pendulum system by using RIM algorithm has simplicity, low computer source requirement, high accuracy and adaptiveness in t

APA, Harvard, Vancouver, ISO, and other styles

25

Fitria, Trisonia, Wipsar Sunu Brams Dwandaru, Warsono, R. Yosi Aprian Sari, Dian Puspita Eka Putri, and Adiella Zakky Juneid. "Application Of Inverted Pendulum in Laplace Transformation of Mathematics Physics." Jurnal Penelitian Pendidikan IPA 9, no. 7 (2023): 5446–52. http://dx.doi.org/10.29303/jppipa.v9i7.2953.

Full text

Abstract:

The Laplace transform is a technique used to convert differential equations into algebra, it is often used for the analysis of dynamic systems and inverted pendulum systems. An inverted pendulum is a mechanism that moves objects from one place to another and shows the function of its activity while walking. This system is widely used in various fields, for example in the fields of robotics, industry, technology and organics. In an inverted pendulum there is an inverted pendulum dynamic system with a reading and driving force. The results of the study show that using the Laplace transform can m

APA, Harvard, Vancouver, ISO, and other styles

26

Bindu, B., Srikanth N, Haris Raja V, Barath Kumar JK, and Dharmendra R. "Comparative analysis of inverted pendulum control." Scientific Temper 14, no. 02 (2023): 516–20. http://dx.doi.org/10.58414/scientifictemper.2023.14.2.44.

Full text

Abstract:

The main motive of this paper is to balance the inverted pendulum system (non-linear model) using controllers and to compare the results obtained from using different controllers. The aim is to determine which controller provides best results with respect to cart’s position and pendulum’s angle. The controllers used in this paper are PI, PD, PID. The inverted pendulum model is modeled using Simscape and the simulation results are obtained using MATLAB

APA, Harvard, Vancouver, ISO, and other styles

27

Sun, Jian Zhong, Jian Kang Lu, Bin Yang, and Jun Li Li. "Sliding Mode Variable Structural Control of Nonlinear Inverted Pendulum." Advanced Materials Research 433-440 (January 2012): 74–80. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.74.

Full text

Abstract:

In this paper, the multi-input linear and nonlinear mathematical differential equations of inverted pendulum system were established based on the traditional single-input linear inverted pendulum. Aiming at multi-input nonlinear model, nonlinear state transformation are carried through on the basis of the test of distribution involution and the calculation of integral manifold, then, the multi-input nonlinear inverted pendulum system was transformed into two single-input nonlinear inverted pendulum system to study. In the end, make use of related nonlinear system control theory of the sliding

APA, Harvard, Vancouver, ISO, and other styles

28

Bayram, Atilla, Firat Kara, and Mehmet Nuri Almali. "Design of Spatial Inverted Pendulum System." MATEC Web of Conferences 291 (2019): 02004. http://dx.doi.org/10.1051/matecconf/201929102004.

Full text

Abstract:

Pendulum-based systems which are highly non-linear and unstable have become one of the most widely studied subject of control theory. The close interest of researchers on inverted pendulum problem arises from its strong representation ability with real engineering applications. This study focuses on the design and production of an experimental setup in which a spatial inverted pendulum can be balanced by means of a planar mechanism in RRRRP configuration. A mechanism with two different motion inputs (rotational and linear) that no studies were performed on before was prototyped. This system is

APA, Harvard, Vancouver, ISO, and other styles

29

Tin, Phu Tran, Tran Hoang Quang Minh, Tran Thanh Trang, and Nguyen Quang Dung. "Using real interpolation method for adaptive identification of nonlinear inverted pendulum system." International Journal of Electrical and Computer Engineering (IJECE) 9, no. 2 (2019): 1078. http://dx.doi.org/10.11591/ijece.v9i2.pp1078-1089.

Full text

Abstract:

<p>In this paper, we investigate the inverted pendulum system by using real interpolation method (RIM) algorithm. In the first stage, the mathematical model of the inverted pendulum system and the RIM algorithm are presented. After that, the identification of the inverted pendulum system by using the RIM algorithm is proposed. Finally, the comparison of the linear analytical model, RIM model, and nonlinear model is carried out. From the results, it is found that the inverted pendulum system by using RIM algorithm has simplicity, low computer source requirement, high accuracy and adaptive

APA, Harvard, Vancouver, ISO, and other styles

30

Jin, Yu Qiang, Jun Wei Lei, and Di Liu. "Modeling and PID Control of Single-Stage Inverted Pendulum System." Applied Mechanics and Materials 644-650 (September 2014): 142–45. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.142.

Full text

Abstract:

The dynamic model is obtained based on researching the structure of single inverted pendulum system in this paper. Mathematical model of inverted pendulum that is close to the working point is deduced by linearization. A PID control algorithm is put forward by analyzing the factor of influencing inverted pendulum stability. The effectiveness of proposed algorithm is verified by simulation. This algorithm has the features of high control precision and good stability.

APA, Harvard, Vancouver, ISO, and other styles

31

Maneetham, Dechrit, and Petrus Sutyasadi. "System design for inverted pendulum using LQR control via IoT." International Journal for Simulation and Multidisciplinary Design Optimization 11 (2020): 12. http://dx.doi.org/10.1051/smdo/2020007.

Full text

Abstract:

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT comm

APA, Harvard, Vancouver, ISO, and other styles

32

Qi, Han. "Application of Fuzzy Control Algorithm in First-order Inverted Pendulum System." Journal of Physics: Conference Series 2417, no. 1 (2022): 012038. http://dx.doi.org/10.1088/1742-6596/2417/1/012038.

Full text

Abstract:

The inverted pendulum system is widely used in the study of control theory. There are many advantages of the inverted pendulum: the equipment is cheap, and it features a simple structure and easy regulation. But since the inverted pendulum system is also a typical nonlinear, multivariable system, it’s a really difficult thing to keep it stable. Because of this, it’s important to figure out a way to stabilize the system. More importantly, new control methods will be discovered during the process, and these new methods can be used in many other different systems. The inverted pendulum system can

APA, Harvard, Vancouver, ISO, and other styles

33

Kao, Sho-Tsung, and Ming-Tzu Ho. "Balance Control of a Configurable Inverted Pendulum on an Omni-Directional Wheeled Mobile Robot." Applied Sciences 12, no. 20 (2022): 10307. http://dx.doi.org/10.3390/app122010307.

Full text

Abstract:

This paper considers the balance control problems of a configurable inverted pendulum with an omni-directional wheeled mobile robot. The system consists of two parts. One is an inverted pendulum, and another one is an omni-directional wheeled mobile robot. The system can be configured as a rotary inverted pendulum or a spherical inverted pendulum. The objective is to control the omni-directional wheeled mobile robot to provide translational force on the plane to balance the spherical inverted pendulum and to provide the moment to balance the rotary inverted pendulum. Detailed dynamic models of

APA, Harvard, Vancouver, ISO, and other styles

34

Wu, Shuo Mei, Jian Wei Song, and Wen Qing Zhang. "Optimal Control Theory Research on Inverted Pendulum System." Applied Mechanics and Materials 494-495 (February 2014): 1118–21. http://dx.doi.org/10.4028/www.scientific.net/amm.494-495.1118.

Full text

Abstract:

The state space expression can be deduced by establishing the mathematical model of inverted pendulum system. In this paper, linear quadratic regulator (LQR) is used to control the inverted pendulum system, providing better balance between system robustness stability and rapidity. The simulation structure shows that the better the system anti-interference capability is, the shorter its recovery time is. Good control effect can be achieved by applying linear quadratic optimal control in the control of double inverted pendulum balancing system.

APA, Harvard, Vancouver, ISO, and other styles

35

Ma, Yan, Dengguo Xu, Jiashun Huang, and Yahui Li. "Robust Control of An Inverted Pendulum System Based on Policy Iteration in Reinforcement Learning." Applied Sciences 13, no. 24 (2023): 13181. http://dx.doi.org/10.3390/app132413181.

Full text

Abstract:

This paper is primarily focused on the robust control of an inverted pendulum system based on policy iteration in reinforcement learning. First, a mathematical model of the single inverted pendulum system is established through a force analysis of the pendulum and trolley. Second, based on the theory of robust optimal control, the robust control of the uncertain linear inverted pendulum system is transformed into an optimal control problem with an appropriate performance index. Moreover, for the uncertain linear and nonlinear systems, two reinforcement-learning control algorithms are proposed

APA, Harvard, Vancouver, ISO, and other styles

36

RAJESH, Tanna, MARY K. ALICE, and VISWANADH VIVEK. "FUZZY CONTROL OF INVERTED PENDULUM SYSTEM." i-manager’s Journal on Instrumentation and Control Engineering 4, no. 2 (2016): 21. http://dx.doi.org/10.26634/jic.4.2.4879.

Full text

APA, Harvard, Vancouver, ISO, and other styles

37

Sanjeewa, Sondarangallage DA, and Manukid Parnichkun. "Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller." International Journal of Advanced Robotic Systems 16, no. 2 (2019): 172988141983327. http://dx.doi.org/10.1177/1729881419833273.

Full text

Abstract:

Balancing control of a rotary double inverted pendulum system is a challenging research topic for researchers in dynamics control field because of its nonlinear, high degree-of-freedom, under actuated and unstable characteristics. The system always works under uncertainties and disturbances. Many control algorithms fail or ineffectively control the rotary double inverted pendulum system. In this article, mixed sensitivity H∞ control is proposed to balance the rotary double inverted pendulum system. The controller is proposed to ensure the robust stability and enhance the time domain performanc

APA, Harvard, Vancouver, ISO, and other styles

38

Öksüz, Mehmet, and Recep Halicioğlu. "Alternative Controller Design for Rotary Inverted Pendulum." Tehnički glasnik 12, no. 3 (2018): 139–45. http://dx.doi.org/10.31803/tg-20180208152214.

Full text

Abstract:

The inverted pendulum has been considered a classical control problem. Two designs of inverted pendulum are planar and rotary with a nonlinear unstable system characteristic. Inverted pendulum systems are nonlinear. They can be used for testing and studying various observers and controllers. Control of a rotary inverted pendulum is studied here. This paper proposes stabilization of the rotary inverted pendulum at its upright position by using full-state controller. Full-state controllers are designed by using different damping ratios. MATLAB simulation results and the experimental results are

APA, Harvard, Vancouver, ISO, and other styles

39

Sen, Muhammed Arif, and Mete Kalyoncu. "Optimisation of a PID Controller for an Inverted Pendulum Using the Bees Algorithm." Applied Mechanics and Materials 789-790 (September 2015): 1039–44. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.1039.

Full text

Abstract:

The inverted pendulum system is a challenging control problem in the control theory, which continually moves away from a stable state. The paper presents the design of a Proportional-Integral-Derivative (PID) controller for a single-input multi-output (SIMO) inverted pendulum system and using the Bees Algorithm (BA) to obtain optimal gains for PID controllers. The Bees Algorithm optimizes the gains so that the controller can move the cart to a desired position with the minimum amount of the change in the pendulum’s angle from the vertically upright position during the movement. The tuning aim

APA, Harvard, Vancouver, ISO, and other styles

40

Shi, Xiang, Zhe Xu, Ka Tian, and Qing Yi He. "Optimal Control for Wheeled Inverted Pendulum Based on Collaborative Simulation." Applied Mechanics and Materials 556-562 (May 2014): 2444–47. http://dx.doi.org/10.4028/www.scientific.net/amm.556-562.2444.

Full text

Abstract:

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The optimal control based on MATLAB is used to control wheeled inverted pendulum, and the control law is designed, and its feasibility is verified. However the mathematical model of the wheeled inverted pendulum is linearized and inverted pendulum is a high-order nonlinear system, both of them exist errors. Then the collaborative simulation of MATLAB and ADAMS is also used to control wheeled inverted pendulum, in which wheeled inverted pendulum is built up to virtual prototype model in ADAMS based on v

APA, Harvard, Vancouver, ISO, and other styles

41

Yang, Leiyu, and Huan Miao. "Wave manipulation of a coupling pendulum metamaterial by parametric excitation." Physica Scripta 100, no. 3 (2025): 035221. https://doi.org/10.1088/1402-4896/adb350.

Full text

Abstract:

Abstract The use of mechanical metamaterials for the purpose of controlling wave propagation is made possible by their flexibility and adjustability. In this paper, a one-dimensional metamaterial composed of compound pendulums and inverted pendulums with high-frequency parametric excitation is proposed. The pendulum system can be equivalent to a nonlocal metamaterial and effective mass and effective stiffness can be obtained. The high-frequency parametric excitation provides an equivalent additional stiffness. This additional stiffness can provide an antigravity effect to the inverted pendulum

APA, Harvard, Vancouver, ISO, and other styles

42

Resti, Nalsa Cintya. "Sifat-Sifat Sistem Pendulum Terbalik dengan Lintasan Berbentuk Lingkaran." INTENSIF 1, no. 1 (2017): 20. http://dx.doi.org/10.29407/intensif.v1i1.537.

Full text

Abstract:

 The inverted pendulum is a high-order non-linear, miltivariable and highly unstable dynamic system. High-order non-linear systems in the inverted pendulum must be dilutarized to be solved easily. From the calculations that have been done can be deduced that the system from the inverted pendulum is unstable saddle system, can be controlled and can be observed. In addition the system can also be formed into a system of controlled companions and observable forms of kompanion.

APA, Harvard, Vancouver, ISO, and other styles

43

Shang, Yalei. "Research on the design of intelligent control strategy for linear primary inverted pendulum based on deep reinforcement learning algorithm with SolidLab’s microcontroller programming." Journal of Combinatorial Mathematics and Combinatorial Computing 127a (April 15, 2025): 1783–97. https://doi.org/10.61091/jcmcc127a-104.

Full text

Abstract:

Deep reinforcement learning, as an advanced machine learning method, is capable of automatically learning optimal decision-making strategies in complex environments. The core objective of this paper is to apply deep reinforcement learning algorithms to SolidLab’s microcontroller programming in order to realize the intelligent control of the linear one-stage inverted pendulum system. The study takes the linear one-stage inverted pendulum produced by A Technology Company as the control object, and adopts the model-free control structure of the deep reinforcement learning algorithm to build the c

APA, Harvard, Vancouver, ISO, and other styles

44

Long, Hoang Duc, and N. A. Dudarenko. "Analysis of a Cart-Inverted Pendulum System with Harmonic Disturbances Based on its Criterion Matrix." Mekhatronika, Avtomatizatsiya, Upravlenie 23, no. 3 (2022): 146–51. http://dx.doi.org/10.17587/mau.23.146-151.

Full text

Abstract:

The control of an inverted pendulum is a classical benchmark control problem. Its dynamics resemble that of many real-world systems of interest like pendulous, missile launchers, segways, and many more. The control of this system is challenging as it is a highly unstable, highly non-linear, non-minimum phase system, and underactuated. Furthermore, the physical constraints on the track position also pose complexity in its control design. A great deal of nonlinearity is present inherently and as well as affected by the surrounding external disturbances. The paper presents an approach for analysi

APA, Harvard, Vancouver, ISO, and other styles

45

Qi, Shu Fen, Huan Huan Liu, and Hong Tao Tian. "Research of the Inverted Pendulum System Based on the Linear Quadratic Optimal Control." Applied Mechanics and Materials 568-570 (June 2014): 1104–7. http://dx.doi.org/10.4028/www.scientific.net/amm.568-570.1104.

Full text

Abstract:

As an ideal experimental method in the study of control theory, inverted pendulum system is an indispensable tool to examine the effects of control strategy. In this paper the corresponding mathematical model and the state space equation are established according to studying the working principle and balance control problem of the single stage linear inverted pendulum system. Using MATLAB solves them and gets the consequences. Finally, the linear quadratic optimal control strategy is used to design the controller of single-stage inverted pendulum system, and a simulation study is carried out.

APA, Harvard, Vancouver, ISO, and other styles

46

Kumagai, Masaaki, and Takaya Ochiai. "Development of a Robot Balanced on a Ball - First Report, Implementation of the Robot and Basic Control -." Journal of Robotics and Mechatronics 22, no. 3 (2010): 348–55. http://dx.doi.org/10.20965/jrm.2010.p0348.

Full text

Abstract:

This paper proposes the implementation and control scheme of a robot balanced on a ball. Unlike a twowheeled inverted pendulum, such as the Segway Human Transporter, an inverted pendulum using a ball moves in any direction without changing orientation, enabling isotropic movement and stabilization. The robot on the ball can be used in place of the twowheeled robots. Our robot has three omnidirectional wheels with stepping motors that drive the ball and two sets of rate gyroscopes and accelerometers as attitude sensors. It can keep station, traverse in any direction, and turn around its vertica

APA, Harvard, Vancouver, ISO, and other styles

47

Hua, Yang, and Zi Jian Yang. "Simple Rotary Inverted Pendulum and the Control Device." Applied Mechanics and Materials 851 (August 2016): 445–48. http://dx.doi.org/10.4028/www.scientific.net/amm.851.445.

Full text

Abstract:

Inverted pendulum control system is a complex, nonlinear, unstable system. This design on the basis of studying the law of motion of the inverted pendulum, build its trajectory mathematical model, using MATLAB simulation analysis, after understanding of inverted pendulum model, use k60 micro controller combined with PID algorithm gives the signal driven dc gear motor, and then to control the inverted pendulum system, used in the process of standing on your head swinging rod Angle encoder acquisition, processing, the Angle of swinging rod feedback on point of view, the direction of the angular

APA, Harvard, Vancouver, ISO, and other styles

48

Fajar, M., S. S. Douglas, and J. B. Gomm. "Modelling and Simulation of Spherical Inverted Pendulum Based on LQR Control with SimMechanics." Applied Mechanics and Materials 391 (September 2013): 163–67. http://dx.doi.org/10.4028/www.scientific.net/amm.391.163.

Full text

Abstract:

This paper describes how to simulate the spherical inverted pendulum, a dynamics of multibody system, with SimMechanics. The control strategy used is based on the LQR feedback method for the stabilisation of the spherical inverted pendulum system. Simulation study has been done in Simulink environment shows that LQR controller is capable to control multi input and multi output of spherical inverted pendulum system successfully. The result shows that LQR control strategy gives satisfactory response that is presented in time domain with the details analysis. The use of SimMechanics for simulatio

APA, Harvard, Vancouver, ISO, and other styles

49

Bradshaw, Alan, and Jindi Shao. "Swing-up control of inverted pendulum systems." Robotica 14, no. 4 (1996): 397–405. http://dx.doi.org/10.1017/s0263574700019792.

Full text

Abstract:

SUMMARYIn Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with previous swing-up controls shows that the proposed swing-up control is simpler, eaiser. more efficient, and more robust.In Part II the technique is extended to the case of the swing-up control of dou

APA, Harvard, Vancouver, ISO, and other styles

50

Cao, Rong Min, Hui Xing Zhou, and Rong Hua Ma. "Experiment Platform Design cSPACE-Based for a Permanent Magnet Linear Synchronous Motor Driven Inverted Pendulum." Applied Mechanics and Materials 84-85 (August 2011): 452–56. http://dx.doi.org/10.4028/www.scientific.net/amm.84-85.452.

Full text

Abstract:

Permanent magnet linear synchronous motor (PMLSM) driven inverted pendulum is a new member of present similar devices, various unexpected disturbances such as lag effect of a belt attached to a cart and errors caused by a rotary encoder while detecting the position of a cart can be eliminated or reduced to a small range.In this paper, ironless permanent magnet synchronous linear motor driven inverted pendulum experiment platform is developed. The plant is hardware in the loop real time simulation control development system (Hardware-in-Loop, HIL)based on TMS320F2812DSP and MATLAB, it can use s

APA, Harvard, Vancouver, ISO, and other styles

We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!