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Swing-up and Stabilization of a Single Inverted Pendulum: Real-Time Implementation

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Figure

Figure 2.1:Diagram of the SIP mounted on a cart.
Figure 2.3:Comparison of real-time data with simulated model response with and without friction.
Figure 3.1:Stabilization controller with state-dependent B given by (3.24) versus controller withconstant B given by (3.32)
Figure 3.2:Stabilization simulation results for the power series based controller with various initialangles, and x0 = 0, ˙↵0 = 0, ˙x0 = 0.
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