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The Inverted Pendulum Benchmark in Nonlinear Control Theory A Survey
The Inverted Pendulum Benchmark in Nonlinear Control Theory A Survey
Olfa Boubaker1,*
1 National Institute of Applied Sciences and Technology
* Corresponding author E-mail: olfa.boubaker@insat.rnu.tn
Received 15 Mar 2012; Accepted 14 Nov 2012
DOI: 10.5772/55058
© 2013 Boubaker; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract For at least fifty years, the inverted pendulum 1. Introduction
has been the most popular benchmark, among others, in
nonlinear control theory. The fundamental focus of this Control theory is a field dealing with disciplines and
work is to enhance the wealth of this robotic benchmark methods that lead to an automatic decision process in
order to improve the performance of a control system.
and provide an overall picture of historical and current
The evolution of control theory is related to research
trend developments in nonlinear control theory, based on
advances in technology, theoretical controller design
its simple structure and its rich nonlinear model. In this
methods and their real‐time implementation [1‐3].
review, we will try to explain the high popularity of such
Control theory progress is also associated with education
a robotic benchmark, which is frequently used to realize
and control systems engineering [4‐6].
experimental models, validate the efficiency of emerging control
techniques and verify their implementation. We also attempt
Concerning engineering systems, many robotic
to provide details on how many standard techniques in
benchmarks of high interest exist in the literature. They
control theory fail when tested on such a benchmark.
are frequently used to realize experimental models,
More than 100 references in the open literature, dating
validate the efficiency of emerging control techniques and
back to 1960, are compiled to provide a survey of verify their implementation. The most common robotic
emerging ideas and challenging problems in nonlinear benchmarks are Acrobot [7], Pendubot [8], the Furuta
control theory accomplished and verified using this Pendulum [9], the inverted pendulum [10], the Reaction
robotic system. Possible future trends that we can Wheel Pendulum [11], the bicycle [12], the VTOL aircraft
envision based on the review of this area are also [13], the Beam‐and‐Ball system [14] and TORA [15].
presented.
In spite of its simple structure, the inverted pendulum is
Keywords Inverted Pendulum, Robotic Benchmarks, considered, among the last examples, the most
Nonlinear Control Theory fundamental benchmark. For this system, different
www.intechopen.com Olfa Boubaker: The Inverted Pendulum Benchmark in Nonlinear Control Theory: A Survey 3
On one hand, based on the inverted pendulum most mathematical rigorous approaches to solve the
stabilization principle, many robotic control strategies are upswing control and the stabilization of the pendulum
emerged. Recent major accomplishments include control around the unstable equilibrium point since global
design of under actuated robotic systems [115‐117], stability is based on Lyapunov theory. However, new
mobile wheeled inverted pendulums [118‐121] and gait hybrid control approaches, such as fuzzy‐neural control
pattern generation for bipedal and humanoid robots [122‐ approaches and bio‐inspired methods like genetic
132]. In most cases, the non linear control problem is algorithms, particle swarm optimization and ant colony
based on finding a suitable reference trajectory obeying a optimization, have attracted more attention because they
certain criteria formulated as a constrained optimization reduce the complexity of controllers.
problem (see [133] and [134] and references therein). For
such complex control problems, new hybrid control Finally, based on this review, we can confirm that
approaches, such as fuzzy‐neural control approaches handling for nonlinear systems, delays, instable internal
[135, 136, 137], are emerging. The use of neural networks dynamics, uncertainty conditions, actuator saturation and
has increased in recent years in control theory, since they chaos dynamics are the future trends and the most
do not involve any mathematical theories. They reduce challenging problems to be solved in control theory.
the development cost of controllers for complex systems,
particularly nonlinear ones [138]. For tuning controller 6. References
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