In this report a number of algorithms for optimal control of a double inverted pendulum on a cart(DIPC) are investigated and compared.Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian,di?erence between kinetic and pote
This paper presents a stabilization method for an underactuated ball-and-beam system (BABS) based on a second-order sliding mode (SOSM) control. The BABS is an underactuated nonlinear system that is widely used to verify nonlinear control performance
This paper addresses the motion control problem of an n-link planar underactuated manipulator with any one of its joints being passive. A reduced order approach is proposed to achieve a swing-up control and a balancing control. The presented approach
