In this paper, the principles of homogeneous coordinate and analytical mechanics are used to build the equations of the dynamics differential equation of Circular Rail Inverted Pendulum. The Bang-Bang-Adjust Control Algorithm is put forward, and by applying control torque reasonably, the computer control during the swing-up process of Circular Rail Inverted Pendulum has been realized. The computer simulation of the swing-up process of Inverted Pendulum is also provided. The results indicated that the dynamics model and the control method are effective and feasible.
This paper aims to study on swing-up control of linear spring-connected double inverted pendulum through establishing a mechanical model of the inverted pendulum with D'alembert Principle. Taking discrete control quantity as design variables and terminal constraint condition as objective function, swing-up control laws are computed by an optimization method. The results of simulating show that swing-up control of linear spring-connected double inverted pendulum is realized successfully by the optimization method and therefore illustrates that this method is effective and feasible.
●The conditions are officially justified not as punishment for prisoners but as an administrative measure. Prisoners are placed in control units in administrative moves and since there are no rules governing such moves (in contrast to punitive moves), prisoners are denied any due process and prison officials can incarcerate any prisoner in a control unit for as long as they choose, without having to give any reason.