Classic benchmark: stabilize an inverted pendulum mounted on a cart using a PID controller that computes horizontal force on the cart. This repo contains a MATLAB implementation (numerical sim) and ...

The Inverted Pendulum Self-Balancing Cart is a classic control theory problem where a pendulum is mounted on a cart that moves along a track. The objective is to keep the pendulum balanced in an ...

Abstract: This paper focuses on the design, simulation and implementation of an adaptive model predictive controller of the inverted pendulum. The main objective of the controller is to hold the ...

Abstract: The inverted pendulum is a classic nonlinear unstable system used in control theory for testing control methods. In this article a nonlinear and a linearized model is obtained to design a ...

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase ...