The Inverted Pendulum in Control Theory and Robotics

Professor Olfa Boubaker is Full Professor at the National Institute of Applied Sciences and Technology (INSAT), University of Carthage, Tunisia, and Head of the 'Energy, Robotics, Control and Optimization' Research Laboratory at INSAT. She is a member of the scientific editorial board of the International Journal of Advanced Robotic Systems and Guest Editor for the journals Complexity and Mathematical Problems in Engineering and Regional Editor of the Elsevier Book series Emerging Methodologies and Applications in Modelling, Identification and Control. She is the principal author of two books, and the author/coauthor of over 100 peer-reviewed papers. Professor Rafael Iriarte is Full Professor at the Control & Robotics Department, Electrical Engineering Division of School of Engineering at the National Autonomous University of Mexico (UNAM). He teaches basic control theory and conducts research in variable structure system using sliding mode control theory. He has authored/co-authored two books.

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