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

Linear Approximation in Time Domain01:21

Linear Approximation in Time Domain

403
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
403
Simple Pendulum01:10

Simple Pendulum

8.5K
A simple pendulum consists of a small diameter ball suspended from a string, which has negligible mass but is strong enough to not stretch. In our daily life, pendulums have many uses, such as in clocks, on a swing set, and on a sinker on a fishing line. 
The period of a simple pendulum depends on two factors: its length and the acceleration due to gravity. The period is completely independent of any other factors, such as mass or maximum displacement. For small displacements, a pendulum is...
8.5K
Physical Pendulum01:06

Physical Pendulum

2.9K
When a rigid body is hanging freely from a fixed pivot point and is displaced, it oscillates similar to a simple pendulum and is known as a physical pendulum. The period and angular frequency of a physical pendulum are obtained by using the small-angle approximation and drawing parallels with a spring-mass system. The small-angle approximation (sinθ=θ) is valid up to about 14°.
When dealing with complicated systems, the mass moment of inertia is an important parameter, as it...
2.9K
Forced Oscillations01:06

Forced Oscillations

8.2K
When an oscillator is forced with a periodic driving force, the motion may seem chaotic. The motions of such oscillators are known as transients. After the transients die out, the oscillator reaches a steady state, where the motion is periodic, and the displacement is determined.
8.2K
Torsional Pendulum01:09

Torsional Pendulum

7.8K
A torsional pendulum involves the oscillation of a rigid body in which the restoring force is provided by the torsion in the string from which the rigid body is suspended. Ideally, the string should be massless; practically, its mass is much smaller than the rigid body's mass and is neglected.
As long as the rigid body's angular displacement is small, its oscillation can be modeled as a linear angular oscillation. The amplitude of the oscillation is an angle. The role of mass is played...
7.8K
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

438
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...
438

You might also read

Related Articles

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

Sort by
Same author

Adaptive super-twisting sliding mode control for robust tracking of wearable PAM-driven robotic manipulator.

Scientific reports·2026
Same author

Reinforcement learning-driven model predictive control for optimizing counter-rotating permanent magnet synchronous motor in submarine propulsion system.

Scientific reports·2026
Same author

Robust model reference adaptive controller for 3-DOF planar manipulator.

Scientific reports·2026
Same author

An improved trajectory tracking control of quadcopter using a novel Sliding Mode Control with Fuzzy PID Surface.

PloS one·2024
Same author

An improved nonsingular adaptive super twisting sliding mode controller for quadcopter.

PloS one·2024

Related Experiment Video

Updated: Mar 27, 2026

Author Spotlight: Enhancing Engineering Education via WebVR-Based Online Laboratories
04:15

Author Spotlight: Enhancing Engineering Education via WebVR-Based Online Laboratories

Published on: February 23, 2024

1.8K

Adaptive fuzzy sliding mode control applied to inverted pendulum.

Tofik Kemal Mohammed1, Solomon Ferede Ezez2, Amanuel Zinabu Siraj1

  • 1Electrical and Computer Engineering, Werabe University, 46, Werabe, Ethiopia.

Scientific Reports
|March 26, 2026
PubMed
Summary

This study introduces an Adaptive Fuzzy Sliding Mode Controller (AFSMC) for unstable nonlinear systems. AFSMC effectively balances robustness and smooth control, outperforming traditional methods in simulations.

Keywords:
Adaptive FSMCFSMCRobustnessUncertainty

More Related Videos

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

2.2K
Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
09:01

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Published on: April 4, 2017

9.2K

Related Experiment Videos

Last Updated: Mar 27, 2026

Author Spotlight: Enhancing Engineering Education via WebVR-Based Online Laboratories
04:15

Author Spotlight: Enhancing Engineering Education via WebVR-Based Online Laboratories

Published on: February 23, 2024

1.8K
Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
06:45

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

2.2K
Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
09:01

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Published on: April 4, 2017

9.2K

Area of Science:

  • Control Systems Engineering
  • Robotics
  • Nonlinear Dynamics

Background:

  • The inverted pendulum on a cart is a classic benchmark for underactuated nonlinear systems, known for instability and sensitivity to uncertainties.
  • Conventional Sliding Mode Control (SMC) offers robustness but suffers from chattering and high control effort.
  • Fuzzy Sliding Mode Control (FSMC) reduces chattering but has limited robustness against parametric uncertainties.

Purpose of the Study:

  • To propose an Adaptive Fuzzy Sliding Mode Controller (AFSMC) for underactuated nonlinear systems.
  • To enhance robustness and eliminate chattering simultaneously.
  • To achieve energy-efficient control for systems like the inverted pendulum.

Main Methods:

  • Formulation of a hierarchical sliding surface for coordinated stabilization.
  • Integration of fuzzy inference with sliding mode principles.
  • Introduction of an adaptive fuzzy mechanism to tune sliding gain online based on error dynamics.

Main Results:

  • AFSMC demonstrates smooth control action and strong robustness against disturbances and parameter variations.
  • The proposed controller achieved the lowest control norm compared to conventional SMC and FSMC.
  • Effective balance between robustness, chattering elimination, and energy efficiency was achieved.

Conclusions:

  • AFSMC provides a superior control strategy for underactuated nonlinear systems.
  • The adaptive mechanism enhances performance during large deviations and near equilibrium.
  • This approach offers an effective solution for complex control challenges in robotics and automation.