The Furuta pendulum consists of an arm rotating in the horizontal plane and a pendulum
attached to its end. Rotation of the arm is controlled by a DC motor, while the pendulum is …

We consider the problem of creating oscillations of the Furata pendulum around the open-
loop unstable equilibrium. Following a proposed technique, we start with shaping the energy …

The digital balancing of the Furuta pendulum is studied when the time delay related to the
digital control and the dynamics of the actuator have essential effects on stability. Such …

This paper proposes a novel method to compute an upper bound on the induced L 2-gain
for a linear parameter varying (LPV) system with rational parameter dependence. The …

This paper presents the design of model predictive control (MPC) applied to the parallel-type
double inverted pendulum (PDIP), which is driven by a linear motor. The limited stroke …

A problem of control of trajectory motion of manipulators with two DOF and one controlling
input is considered. Techniques of analysis of these underactuated systems and a …

We consider a special benchmark mechanical system with two degrees of freedom and
underactuation degree one. Furuta pendulum consists of an arm, rotating in the horizontal …

In this paper, we show that nonlinear model predictive control (NMPC) demonstrates
excellent performance in driving a reaction wheel pendulum to its unstable equilibrium at …

El propósito de este trabajo es presentar un nuevo esquema de control robusto basado en
un modelo no-lineal aplicado a un sistema de péndulo invertido rotacional. El péndulo …

This thesis investigates optimization-based techniques for robustness and performance
analysis of a wide class of nonlinear dynamical systems with parametric uncertainty. The …