The inverted pendulum is a well-known problem in dynamics and control theory, often used as a benchmark for evaluating control algorithms. It remains an active research area, with innovations and practical applications—such as its solution in the Segway self-balancing device.
This book offers a comprehensive overview of both historical and current trends in nonlinear control theory, using the inverted pendulum’s simple yet rich nonlinear model as a foundation. Following an introduction to the system and its open challenges, the book is organized into four sections: robust state estimation and control for pendulum-cart systems; controllers for under-actuated mechanical systems; nonlinear controllers for mobile inverted pendulum systems; and robust observer-based controllers using Takagi-Sugeno or linear methods.
Featuring contributions from international experts, The Inverted Pendulum in Control Theory and Robotics is essential reading for researchers, engineers, scientists, and students in control theory, robotics, and nonlinear systems.
