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The double inverted pendulum system is a less-driven, multi-parameter, highly nonlinear system. The sliding mode controller is designed to make the double pendulum stable at the upright equilibrium position. But, it is difficult to determine the sliding surface in design, which is the key to the performance of the control system. The improved genetic strategy is applied to search the optimal sliding...
The double inverted pendulum system is a less-driven, multi-parameter, strongly coupled, highly nonlinear system. The precise mathematical model of the system is important to controller design. So establishing precise mathematical model is focused on in this paper. By the Lagrangian mechanics, the mathematical model of the double pendulum system is established initially. In order to identify the solution...
The nine-point controller is a new type of intelligent controller, which divides the whole phase plane into nine blocks and outputs corresponding control force. It is the combination of open-loop control and closed-loop control. What's more, the algorithm of the nine-point controller is simple, practical and robust. Because of these advantages, it is applied to stabilize the inverted pendulum. Simulation...
The present study compares the performances of several types of continuous time generalized predictive controllers with nonlinear bang bang controller for controlling chaotic systems. Continuous time approach of controller design proposed in this study often exposes the fundamentals of underlying control problem which are obscured by sampling and therefore offers significant advantages over discrete...
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