Title :
The inverted pendulum: A fundamental benchmark in control theory and robotics
Author_Institution :
Centre Urbain Nord, Nat. Inst. of Appl. Sci. & Technol. (INSAT), Tunis, Tunisia
Abstract :
For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, for teaching and researches in control theory and robotics. This paper presents the key motivations for the use of that system and explains, in details, the main reflections on how the inverted pendulum benchmark gives an effective and efficient application. Several real experiences, virtual models and web-based remote control laboratories will be presented with emphasis on the practical design implementation of this system. A bibliographical survey of different design control approaches and trendy robotic problems will be presented through applications to the inverted pendulum system. In total, 150 references in the open literature, dating back to 1960, are compiled to provide an overall picture of historical, current and challenging developments based on the stabilization principle of the inverted pendulum.
Keywords :
Internet; computer aided instruction; control engineering computing; control engineering education; control system synthesis; nonlinear control systems; stability; telerobotics; Web-based remote control laboratories; control theory; design control; inverted pendulum benchmark; inverted pendulum system; robotic problems; stabilization principle; virtual models; Benchmark testing; Control systems; Control theory; Education; Laboratories; Robots; Robustness; Control theory; Inverted pendulum; Robotics;
Conference_Titel :
Education and e-Learning Innovations (ICEELI), 2012 International Conference on
Conference_Location :
Sousse
Print_ISBN :
978-1-4673-2226-3
DOI :
10.1109/ICEELI.2012.6360606