A new algorithm allows this system to guide a rotating pendulum from stable to unstable rotation, detect the boundary between the two, and then hold the pendulum in the unstable state.
Video 3: In unstable rotation, the pendulum is up when the pivot is down. You can see occasional "hiccups" when the rotation begins to get irregular and the controller kicks in to pull it back to the original motion.
http://focus.aps.org/story/v22/st1
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