Abstract For at least fifty years, the inverted pendulum has been most popular benchmark, among others, in nonlinear control theory. The fundamental focus of this work is to enhance wealth robotic benchmark and provide an overall picture historical current trend developments theory, based on its simple structure rich model. In review, we will try explain high popularity such a which frequently used realize experimental models, validate efficiency emerging techniques verify their...

For at least fifty years, the inverted pendulum has been most popular benchmark, among others, for teaching and researches in control theory robotics. This paper presents key motivations use of that system explains, details, main reflections on how benchmark gives an effective efficient application. Several real experiences, virtual models web-based remote laboratories will be presented with emphasis practical design implementation this system. A bibliographical survey different approaches...

Abstract In this paper, a design of full-order observer for linear time-invariant (LTI) multivariable systems with multiple time-delays and unknown inputs (UI) is proposed. The main idea to reduce the problem input (UIO) that standard one. To purpose, orthogonal collocation method used transform infinite dimensional model delayed system described by set partial differential equations (PDEs) finite one ordinary (ODEs). Even using an approximation method, asymptotic stability UIO well proven....

In this article, a fast terminal sliding mode control technique is used for robust tracking of nonlinear uncertain mass–spring system in the existence external perturbation. This considered as benchmark problem flexible joint mechanisms. The joints flexibility robotic systems creates one most significant sources parametric uncertainties. theory Lyapunov stability formulation proposed method, and presence around switching surface satisfied finite time. Simulation results well experimental...

This paper provides a thorough survey of new chaotic and hyperchaotic systems. An analysis the dynamic behavior these complex systems is presented by pointing out their originality elementary characteristics. Recently, such have been increasingly used in various fields as secure communication, encryption finance so on. In practice, each field requires specific performances with peculiar complexity. A particular classification then proposed this based on Lyapunov exponent, equilibriums points...

The main application of off-grid solar photovoltaic (SPV) systems is water extraction in rural areas where access to the grid restricted. In this application, (PV) and pump system regulation are crucial increase its overall efficiency. context, work presents a simple efficient SPV pumping (SPVWPS). designed based on DC-DC boost converter, three-phase DC-AC inverter, induction motor (IM) coupled centrifugal pump. proposed solution operated using control strategy that associates an improved...

This paper presents an efficient and fast method for fine tuning the controller parameters of robot manipulators in constrained motion. The stability robotic system is proved using a Lyapunov-based impedance approach whereas optimal design are tuned, offline, by Particle Swarm Optimization (PSO) algorithm. For designing PSO method, different index performances considered both joint Cartesian spaces. A 3DOF manipulator to circular trajectory finally used validate proposed approach. simulation...

A novel hyperchaotic system with fractional-order (FO) terms is designed. Its highly complex dynamics are investigated in of equilibrium points, Lyapunov spectrum, and attractor forms. It will be shown that the proposed exhibits larger exponents than related systems. Finally, to enhance its potential application, a circuit designed by using MultiSIM Software. Simulation results verify effectiveness suggested circuit.

During the nineties, Rössler’s have reported in their famous book “Chaos Physiology,” that “physiology is mother of Chaos.” Moreover, several researchers proved Chaos a generic characteristic systems physiology. In context disease, like for example growth cancer cell populations, often refers to irregular and unpredictable patterns. such cases, signatures can be used prove existence some pathologies. However, other physiological behaviors, form order disguised as disorder signature healthy...

In this paper, a new design of real-time low-cost speed monitoring and closed-loop control the three-phase induction motor (IM) is proposed. The proposed solution based on voltage/frequency (V/F) approach PI antiwindup regulator. It uses Waijung Blockset which considerably alleviates heaviness difficulty microcontroller’s programming task incessantly crucial for implementation management such complex applications. Indeed, it automatically generates C codes many types microcontrollers like...

In this paper, a Fuzzy Logic control (FLC) approach is proposed to track the maximum power in photovoltaic solar systems. order prove performance of point tracking (MPPT) FLC algorithm, comparative analysis established with conventional Perturb and Observe (P & O) approach. The study carried out under variations insolation temperature. All obtained results superiority terms oscillation dynamics response time system at starting (MPP).

Abstract In this paper, Real-Time embedded control is designed via LabVIEW software for swinging-up a pendulum from its pending position to upright position. Since the system has typical nonlinear instable model, problem achieved using Astrom-Furuta energy strategy. To overcome complexities design and real-Time implementation of controller system, FPGA Modules are used. A validation test finally Proteus Virtual Simulation Models (VSM). results show capabilities modules customize applications...

In this paper, a MIMO PI design procedure is proposed for linear time invariant (LTI) systems with multiple delays. The controller tuning established in two stages and guarantees performances set‐point changes, disturbance variations, parametric uncertainties. the first stage, an iterative matrix inequality (ILMI) approach extended to controllers delays without performance guarantee, priori. second stage devoted improve closed‐loop by minimizing sensitivity functions. Simulations results...

In this work, we consider the design problem of a full-order and also reduced-order unknown input observers for particular class time-delay systems. Asymptotic stability existence conditions designed are established. The quadruple-tank process is used as benchmark to prove efficiency proposed algorithms.

SUMMARY A method for motion/force control of robot arms with model uncertainties is presented. Tracking complex trajectories guaranteed using a Lyapunov approach high-precision performance ensured particle swarm optimization (PSO) algorithm. and robustness are simulated robotic device limb rehabilitation that designed to be adapted easily different subjects by considering parameter uncertainties. Controller parameters optimized offline the PSO algorithm stability conditions considered as...

In this paper, position/force stability conditions for constrained robotic manipulators are proposed using a Lyapunov approach. The stiffness control concept is applied to design the force model whereas controller parameters optimized Particle Swarm intelligence. Mean of Root Squared Error (MRSE) considered as fitness function in task space Optimization (PSO) algorithm. Simulation results prove and performances approach on 3DOF arm circular trajectory.