2. Piecewise Linear Modeling..................... 9 2. 1 Model Representation..................... 9 2. 2
Solution Concepts....................... 2. 3 Uncertainty Models...................... 2. 4 Modularity and …

The Furuta pendulum, or rotational inverted pendulum, is a system found in many control
labs. It provides a compact yet impressive platform for control demonstrations and draws the …

Modeling and simulation are established techniques for solving design problems in a wide
range of engineering disciplines today. Dedicated computer languages, such as Modelica …

This paper focuses on implementation of swing-up, switching and stabilizing controllers for
rotary inverted pendulum. An energy based method to swing-up the pendulum and a state …

Human adaptive mechatronics (HAM) is an intelligent mechanical system that adapts
themselves to human skill under various environments, improves human skill, and assists …

This article explains the background of human adaptive mechatronics (HAM) and the skill
level of individuals to operate machines. It is natural to consider both human and …

In this contribution, explicit model predictive control is applied to the benchmark problems.
Emphasis is put on the reduction of complexity both for the off-line and on-line computation …

This paper focuses on the interaction of manual and automatic control in a demanding task
where the process is unstable and has actuator limitation. The problem is inspired by control …

The paper develops a nonlinear backstep** design scheme for the balancing control of
the Furuta pendulum which is an underactuated rotational inverted pendulum system. The …