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This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum.
List of contents
- Chapter 1: The inverted pendulum: history and survey of open and current problems in control theory and robotics
- PART I: Robust state estimation and control: application to pendulum-cart systems
- Chapter 2: State estimation and parameter identification via sliding-mode techniques: pendulum-cart system
- Chapter 3: Higher order sliding-mode stabilization of inverted cart-pendulum
- Chapter 4: Stabilization and tracking control of the inverted pendulum on a cart via a modified PSO fractional order PID controller
- PART II: Controllers for underactuated mechanical systems
- Chapter 5: Model-free control of the inertia wheel inverted pendulum with real-time experiments
- Chapter 6: Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum
- Chapter 7: Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems
- Chapter 8: Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system
- PART III: Nonlinear controllers for mobile inverted pendulum systems
- Chapter 9: Advances in robust control of mobile wheeled inverted pendulum
- Chapter 10: Case studies on non-linear control theory of the inverted pendulum
- Chapter 11: Bipedal-double-pendulum walking robot control using recurrent hybrid neural network
- PART IV: Robust controllers-based observers via Takagi-Sugeno or linear approaches
- Chapter 12: A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum
- Chapter 13: Robust fault-tolerant control of nonlinear inverted pendulum and cart system with simultaneous actuator and sensor faults sliding-mode observer
- Chapter 14: LMI-based control design for balancing and attitude stabilization of inverted pendulums
