Inverted pendulum
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An inverted pendulum is a pendulum which has its mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart and pole. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done either by applying a torque at the pivot point, by moving the pivot point horizontally as part of a feedback system, changing the rate of rotation of a mass mounted on the pendulum on an axis parallel to the pivot axis and thereby generating a net torque on the pendulum, or by oscillating the pivot point vertically. A simple demonstration of moving the pivot point in a feedback system is achieved by balancing an upturned broomstick on the end of one's finger. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies.
- See also: Wikipedia
- Related: pendulum, Self-balancing unicycle, Segway PT, Double inverted pendulum, Inertia wheel pendulum, Furuta pendulum, iBOT, Humanoid robot, Unicycle, Ballbot, Oscillation
| YouTube - inverted pendulum YouTube - inverted pendulum www.youtube.com/watch?v=MWJHcI7UcuE - Web |
| YouTube - Double Pendulum on a Cart YouTube - Double Pendulum on a Cart www.youtube.com/watch?v=B6vr1x6KDaY&feature=relmfu - Web |
| YouTube - Triple Pendulum on a Cart YouTube - Triple Pendulum on a Cart www.youtube.com/watch?v=cyN-CRNrb3E&feature=related - Web |
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| A dynamical simulation of an inverse pendulum on a... A dynamical simulation of an inverse pendulum on an oscillatory base mw.concord.org/modeler1.3/mirror/mechanics/inversependulum.html - Web |
| Inverted pendulum modeling with several control so... Inverted pendulum modeling with several control solutions in Matlab www.library.cmu.edu/ctms/ctms/examples/pend/invpen.htm - Web |
| Inverted Pendulum: Analysis, Design, and Implement... Inverted Pendulum: Analysis, Design, and Implementation www.engr.usask.ca/classes/EE/480/Inverted%20Pendulum.pdf - Web |
| Non-Linear Swing-Up and Stabilizing Control of an ... Non-Linear Swing-Up and Stabilizing Control of an Inverted Pendulum System www.r8sac.org/files/SPC/bugeja.pdf - Web |
| Stabilization fuzzy control of inverted pendulum s... Stabilization fuzzy control of inverted pendulum systems neuron.tuke.sk/.../Seliga%20-%20Stabilization%20fuzzy%20control%20of%20inverted%20pendulum%20systems.pdf - Web |
