Reducing the stabilizing control order for a double inverted pendulum

Simulation of stabilizing control on the example of triple mathematical pendulum

“…Следует отметить, что найденные в работах [6,7] двухканальные регуляторы пониженного порядка свободны от этой проблемы: при оптимизации степени устойчивости (точнее, гурвицевой градуировки полюсов системы, [8]) достигаются устойчивые значения всех мод системы. Этот подход оправдал себя для заведомо неустойчивого объекта [9].…”

Modelling and Offset-free Predictive Control of the Parallel-Type Double Inverted Pendulum

“…The system is usually used as a benchmark for testing controllers since it represents a typical multivariable, nonlinear and unstable system. Moreover, the inverted pendulum system provides adequate models used to represent a significant number of technical problems in robotics [4]. As discussed in [5], the inverted pendulum system has been used as representative models in the launching of a rocket [6], the motion of a robot [7], [8] and the movement of an hexapod robot [9].…”

Flexible Process Model Design

“…Another feature is the formation of an extensive network of subprocesses [3]. For example, the algebraic design method for a low order control systems [4][5] provides realization of numerous flexible hierarchic phases; each of them is carried out or omitted depending on the results of the previous ones. In this connection, a problem of the predicative description based on logical networks is posed in relation to processes having an arbitrary physical nature.…”