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We present an inverted pendulum design using readily available V-slot rail components and 3D printing to construct custom parts. To enable the examination of different pendulum characteristics, we constructed three pendulum poles of different lengths. We implemented a brake mechanism to modify sliding friction resistance and built a paddle that can be attached to the…

This paper details an extension to the SLIP model named spring-loaded inverted pendulum model with swing legs (SLIP-SL). SLIP-SL extends the SLIP model by introducing swing leg dynamics while keeping its passive nature. This way, reference trajectories for the center of mass and swing foot trajectories can be simultaneously obtained which was not possible with…

In this paper, the problems of actuator and sensor fault estimation (FE) and fault-tolerant control (FTC) for uncertain nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models are investigated. First, a robust fuzzy adaptive sliding mode observer (SMO) is designed to simultaneously estimate system states and both actuator and sensor faults. Then, using the obtained on-line…

In this paper, an optimal discrete-time sliding mode control is proposed for single-input single-output nonlinear systems with input constraints. The sliding surface is designed on the basis of particle swarm optimization algorithm in order to optimize the system response characteristics while ensuring the follow-up of reference model in presence of constraints. Moreover, the controller is…

In this paper, we investigate the decentralized control problem for largescale interconnected systems. The synthesis of the decentralized controller consists in determining gains which ensure the stability of the global system. To calculate these gains, three approaches are presented. Our main contribution is to develop a new decentralized stabilization approach which the decentralized local gains…