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 ...

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Abstract: This paper presents a theoretical frame for inverted pendulum control system, only one control input is added to the system, horizontal force or vertical moment respectively. Underactuated ...

Inverted pendulum systems (IPSs) are typical nonlinear systems. Due to their highly nonlinear characteristics, high coupling, and multivariable characteristics, the system is often used for ...