Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Feedback control systems01:26

Feedback control systems

639
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
639
PD Controller: Design01:26

PD Controller: Design

558
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
558
Open and closed-loop control systems01:17

Open and closed-loop control systems

1.5K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.5K
Controller Configurations01:22

Controller Configurations

306
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
306
PI Controller: Design01:24

PI Controller: Design

1.1K
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
1.1K
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

326
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
326

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Bidirectional-thruster multirotor for perimeter pipe inspections (BiMPPI): A nonlinear optimal integral-SDRE design.

ISA transactions·2025
Same author

Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment.

ISA transactions·2023
Same author

How ornithopters can perch autonomously on a branch.

Nature communications·2022
See all related articles

Related Experiment Video

Updated: Dec 30, 2025

Interactive and Visualized Online Experimentation System for Engineering Education and Research
08:35

Interactive and Visualized Online Experimentation System for Engineering Education and Research

Published on: November 24, 2021

2.9K

Digital implementation of a continuous-time nonlinear optimal controller: An experimental study with real-time

Saeed Rafee Nekoo1

  • 1Independent Researcher, Tehran, Iran.

ISA Transactions
|January 25, 2020
PubMed
Summary

This study presents a digital implementation of a robust nonlinear optimal controller for a rotary inverted pendulum. The combined integral sliding mode control (ISMC) and state-dependent Riccati equation (SDRE) approach successfully controlled nonlinear dynamics, overcoming previous experimental limitations.

Keywords:
Digital controlExperimental studyISMCRotary inverted pendulumSDRE

More Related Videos

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
08:18

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

Published on: August 15, 2020

5.4K
An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces
10:51

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces

Published on: March 10, 2011

14.1K

Related Experiment Videos

Last Updated: Dec 30, 2025

Interactive and Visualized Online Experimentation System for Engineering Education and Research
08:35

Interactive and Visualized Online Experimentation System for Engineering Education and Research

Published on: November 24, 2021

2.9K
WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
08:18

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

Published on: August 15, 2020

5.4K
An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces
10:51

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces

Published on: March 10, 2011

14.1K

Area of Science:

  • Control Systems Engineering
  • Robotics
  • Nonlinear Dynamics

Background:

  • Experimental implementation of complex nonlinear optimal controllers is often limited by computational demands.
  • Digital control systems require careful consideration of sampling times to maintain stability.
  • Rotary inverted pendulums (RIP) present a challenging nonlinear system for control.

Purpose of the Study:

  • To present the digital implementation of a continuous-time robust nonlinear optimal controller for real-time computation.
  • To address the limitations of experimental implementation for complex nonlinear control algorithms.
  • To investigate the effectiveness of combining Integral Sliding Mode Control (ISMC) and the State-Dependent Riccati Equation (SDRE) approach for controlling a rotary inverted pendulum (RIP).

Main Methods:

  • A hybrid control strategy combining Integral Sliding Mode Control (ISMC) and the State-Dependent Riccati Equation (SDRE) approach was designed in the continuous-time domain.
  • Digital components were incorporated into simulations to achieve more realistic outputs and minimize practical tuning.
  • The effect of sampling time on controller stability was analyzed, and a bound for the sampling time was determined and experimentally verified.

Main Results:

  • The proposed controller's computations were successfully programmed into a platform interface, accommodating time-varying sampling times within simulated bounds.
  • The controller demonstrated effective swinging up and stabilization of the nonlinear rotary inverted pendulum (RIP).
  • Comparison with a standalone SDRE controller validated the proposed ISMC plus SDRE approach, highlighting its superior performance.

Conclusions:

  • The digital implementation of the robust nonlinear optimal controller using ISMC and SDRE is feasible and effective for controlling systems with nonlinear dynamics, such as the RIP.
  • The study confirms the importance of analyzing and bounding sampling time effects in digital control implementations.
  • The combined ISMC and SDRE approach offers improved performance over traditional methods for nonlinear system control.