Inverted pendulum - global control

Physical implementation of control algorithm in the following papers:
(1) S. Ramamoorthy, B.J. Kuipers, Qualitative heterogeneous control of higher order systems. In O. Maler and A. Pnueli (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2623, pp. 417-434, Springer Verlag, 2003.
(2) B.J. Kuipers, S. Ramamoorthy, Qualitative modeling and heterogeneous control of global system behavior. In C. J. Tomlin and M. R. Greenstreet (Eds.), Hybrid Systems: Computation and Control, Lecture Notes in Computer Science, Volume 2289, pp. 294-307, Springer Verlag, 2002.

Category:

Science & Technology

Tags:

• nonlinear
• qualitative
• hybrid
• control
• inverted
• pendulum
• cart-pole
• system
• robustness

[alquiora]

I'm currently an undergrad studying principles of control systems but frankly, I am unsatisfied with the mathematics taught at my university. Would you mind telling me what sort of maths did/do you study?

[kutahyatav]

good working, but there is no cart position on the long path

[psp10004]

Awesome, this machine is my personal hero