Research laboratory for nonlinear underactuated systems

Our goal

Underactuated mechanical systems are a class of nonlinear dynamical systems which have fewer control inputs than degrees of freedom and appear in a wide range of applications including mobile and manipulator robots, aerospace and marine systems. Research in this area is therefore of a significant practical importance, given that control strategies that apply to fully actuated systems often fail when applied to underactuated systems. Modeling and analysis of underactuated systems allow us to design control systems which exploit the natural dynamics of the nonlinear system. The goal of the presented project is to contribute to the interconnection of three key areas of research into underactuated systems (mathematical modeling, optimal control of nonlinear systems and hybrid systems theory), and to implement the results of hybrid modeling and control design for cyber-physical systems at all levels of distributed control systems in accordance with the Industry 4.0 strategy.

People

Team Leader

Ing. Slávka Jadlovská, PhD. - Assistant professor

Assistant professor and researcher whose professional interests include modeling and simulation of physical systems with hybrid dynamics using advanced simulation methods, control algorithm design for nonlinear underactuated systems using modern control methods and the implementation of control design results distributed control system infrastructure. Her role in the project involves complex coordination of team members working on individual tasks.

Team members - PhD students

Ing. Dominik Vošček - Deputy Team Leader

PhD student whose research interests focus on hybrid modeling of cyber-physical systems and their subsequent application to the distributed control system infrastructure. His role in the project involves the design and implementation of program tools for analysis and control of hybrid systems and heir application to nonlinear systems.

Ing. Matej Oravec

PhD student whose research interests include modeling, control and non-destructive diagnostics of dynamical systems. His role in the project involves the design and implementation of selected methods of fault diagnostics in form of algorithms and complex program modules with subsequent verification on simulation models of nonlinear physical systems.

Ing. Ján Čabala

PhD student whose research interests include modeling and optimization of production lines using multi-criteria decision-making and multi-criteria optimization. His role in the project involves analysis, design, development, and program implementation of the information parts of modeling, optimization and control tasks, with the emphasis on transfer and archiving of large volumes of data.

Ing. Lukáš Koska

PhD student whose research interests focus on the area of hybrid modeling and control of underactuated mechanical systems with applications in bipedal robot gait. His role in the project involves analysis, design and program implementation of advanced control algorithms for underactuated mechanical systems using hybrid models.

Ing. Jaroslav Socháň

PhD student whose research interests focus on the area of kinematic and dynamic models of fully actuated and underactuated robotic systems. His role in the project involves modeling and control of underactuated systems with the emphasis on hardware implementation, visualization and presentation of results.

Team members - Master students

Bc. Peter Gažík

Bc. Patrik Andorko - webmaster

Master students with interest in physical modeling, inteligent control, multi-body systems, optimal control, switched systems.

Bc. Simona Korkobcová

Bc. Igor Marga

Master students with the interest in modeling and control of nonlinear underactuated systems

Team members - Bachelor students

Karina Cimborová

Martin Durkáč

Bachelor students with the interest in modeling and control of nonlinear underactuated systems

Timeline

UNDERACTUATED SYSTEMS LABORATORY DEVELOPMENT

2011
  • inverted pendulum systems survey - overview of modeling/control approaches
  • n-link classical/rotary inverted pendulum model derivation
  • invpenderiv.m (Symbolic Math Toolbox)
  • Inverted Pendula Model Equation Derivator app
  • Inverted Pendula Model Linearizator & Discretizer app
  • Inverted Pendula Modeling and Control (IPMaC) Simulink block library:
  • simulation models of inverted pendulum systems (classical single, classical double, rotary single) - no attached weight, upright/clockwise reference position
  • DC motor simulation model
  • state-feedback control/state estimator blocks, energy-based swing-up control block
2012
  • classical double inverted pendulum - modeling and state-feedback control (LQR/DLQR, pole-placement) using IPMaC
  • rotary single inverted pendulum - modeling and state-feedback control (LQR/DLQR, pole-placement) using IPMaC
  • swing-up of single (classical, rotary) inverted pendulum systems (energy-based methods) using IPMaC
  • n-link classical/rotary inverted pendulum model derivation - complete algorithm (Lagrange mechanics) and implementation (Symbolic Math Toolbox)
2013
  • underactuated systems survey - overview of applications
  • n-link classical inverted pendulum model derivation - attached weight (cylinder, disk, ring)
  • n-link classical inverted pendulum model derivation - optional pendulum reference position and direction of rotation
  • invpenderiv2.m (Symbolic Math Toolbox)
  • simulation models of classical single/double pendulum system (block structure changes to include all options - 8 reference position/rotation combinations for each of 4 weight options including none)
  • open-loop simulation app for inverted pendulum systems
  • state-dependent Riccati equation control technique (rotary inverted pendulum stabilization)
2014
  • Inverted Pendula Model Equation Derivator_v2 app
  • acrobot, pendubot and reaction wheel pendulum model derivation
  • xxx.m (Symbolic Math Toolbox)
  • Automatic Generation of Underactuated Systems app
  • simulation models of acrobot/pendubot/reaction wheel pendulum system (block structure changes to include all options - 8 reference position/rotation combinations)
  • pendubot - swing-up and stabilizing control (LQR/pole-placement, partial feedback linearization)
2015
  • rotary inverted pendulum model derivation - optional pendulum reference position and direction of rotation
  • Inverted Pendula Model Equation Derivator_v3 app
  • standard minimal form generator
  • swing-up of single (classical, rotary) inverted pendulum systems (partial feedback linearization)
  • acrobot - swing-up and stabilizing control (LQR/pole-placement, partial feedback linearization)
  • automatic simulation model generator for derived mathematical models
  • elementary simulation model of compass gait passive walker
  • closed-loop simulation app for inverted pendulum systems
  • C# apps for open-loop/closed-loop simulation of inverted pendulum systems
  • model predictive control without constraints (classical/rotary single inverted pendulum stabilization)
  • simulation model of the overhead crane system (block structure changes to include all options - 2D/3D with/without cable length change)
  • state-feedback control (LQR, LQI) of overhead crane
2016
  • modeling of benchmark passive walking robots (model derivation for Compass Gait, Compass Gait with Knees)
  • Model Derivation for Passive Biped Robots app
  • model predictive control survey - overview of techniques
  • model predictive control with/without constraints, explicit model predictive control (pendubot/classical single inverted pendulum stabilization) using IPMaC, MPC toolbox and MPT
  • phase portraits generator
2017
  • modeling of advanced passive walking robots (model derivation for compass gait with torso, knees and feet)
  • Model Derivation for Passive Biped Robots_v2 app
  • reaction wheel pendulum - swing-up and stabilizing control (LQR/pole-placement, partial feedback linearization)
  • fully actuated/underactuated manipulators kinematics/dynamics

Statistics

Title Cit.
MATLAB-based Tools for Modelling and Control of Underactuated Mechanical Systems / Slávka Jadlovská, Lukáš Koska, Matej Kentos - 2017. In: Transactions on Electrical Engineering. Vol. 6, no. 3 (2017), p. 56-61. - ISSN 1805-3386 0
Cyber-physical system implementation into the distributed control system / Anna Jadlovská, Slávka Jadlovská, Dominik Vošček - 2016. In: ScienceDirect : IFAC-PapersOnLine. - Amsterdam : Elsevier, 2016 Vol. 49, no. 25 (2016), p. 031-036. - ISSN 2405-8963 0
A Final Look Back at Underactuated Mechanical Systems / Slávka Jadlovská - 2015. In: SCYR 2015. - Košice : TU, 2015 S. 150-152. - ISBN 978-80-553-2130-1 0
Program Tools for Modeling and Control of Underactuated Mechanical Systems / Slávka Jadlovská ... [et al.] - 2015. In: Technical Computing Prague 2015. - Prague : University of Chemistry and Technology, 2015 P. 1-9. - ISBN 978-80-7080-936-5 - ISSN 2336-1662 0
Advanced Generalized Modelling of Classical Inverted Pendulum Systems / Slávka Jadlovská ... [et al.] - 2015. In: Advances in Intelligent Systems and Computing. - Switzerland : Springer, 2015 Vol. 316, no. 1(2015), p. 255-264. - ISSN 2194-5357 2
Underactuated mechanical systems: recent findings and future challenges / Slávka Jadlovská - 2014. In: SCYR 2014 : 14th Scientific Conference of Young Researchers : proceedings from conference : May 20th, 2014, Herľany, Slovakia. - Košice : TU, 2014 S. 275-276. - ISBN 978-80-553-1714-4 0
Modeling and Optimal Control of Nonlinear Underactuated Mechanical Systems – a Survey / Slávka Jadlovská - 2013.In: SCYR 2013 : Proceedings from conference : 13th Scientific Conference of Young Researchers : May 14th, 2013, Herľany, Slovakia. - Košice : FEI TU, 2013 S. 32 - 35. - ISBN 978-80-553-1422-8 1
Application of the state-dependent Riccati equation method in nonlinear control design for inverted pendulum systems / Slávka Jadlovská, Ján Sarnovský - 2013. In: SISY 2013 : IEEE 11th International Symposium on Intelligent Systems and Informatics : proceedings : Subotica, Serbia, September 26-28, 2013. - Subotica : IEEE, 2013 P. 209-214. - ISBN 978-1-4799-0305-4 4
Modelling of Classical and Rotary Inverted Pendulum Systems - a Generalized Approach / Slávka Jadlovská, Ján Sarnovský - 2013. In: Journal of Electrical Engineering. Roč. 64, č. 1 (2013), s. 12-19. - ISSN 1335-3632 10
A complex overview of modeling and control of the rotary single inverted pendulum system / Slavka Jadlovska, Jan Sarnovsky - 2013. In: Advances in Electrical and Electronic Engineering. Vol. 11, no. 2 (2013), p. 73-85. - ISSN 1336-1376 12
Swing-up and Stabilizing Control of Classical and Rotary Inverted Pendulum Systems / Slávka Jadlovská - 2012. - 1 elektronický optický disk (CD-ROM). In: SCYR 2012 : Proceedings from conference : 12th Scientific Conference of Young Researchers : May 15th, 2012, Herľany, Slovakia. - Košice, TU, 2012 S. 38-41. - ISBN 978-80-553-0943-9 2
A Complex Overview of the Rotary Single Inverted Pendulum System / Slávka Jadlovská, Ján Sarnovský - 2012. In: Elektro 2012 : 9th International Conference : May 21st - 22nd 2012, Žilina - Rajecké Teplice, Slovakia. - [Žilina] : IEEE, 2012 S. 305-310. - ISBN 978-1-4673-1178-6 5
Classical double inverted pendulum – a complex overview of a system / S. Jadlovská, J. Sarnovský - 2012. - 1 elektronický optický disk (CD-ROM). In: SAMI 2012 : 10th IEEE Jubilee International Symposium on Applied Machine Intelligence and Informatics : proceedings : Herľany, Slovakia, January 26-28, 2012. - Budapest : IEEE, 2012 S. 103-108. - ISBN 978-1-4577-0195-5 13
Nonlinear control design for inverted pendulum systems based on state-dependent Riccati equation approach / S. Jadlovská, J. Sarnovský - 2012. In: AEI´2012 : International Conference on Applied Electrical Engineering and Informatics 2012 : August 26-September 02, 2012, Germany. - Košice : FEI TU, 2012 P. 22-26. - ISBN 978-80-553-1030-5 0
An extended simulink library for modeling and control of inverted pendula systems / Slávka Jadlovská, Ján Sarnovský - 2011. - 1 elektronický optický disk (CD-ROM). In: Technical Computing Prague 2011 : sborník příspěvků 19. ročníku konference : Praha, November 8, 2011. - Praha : Institute of Chemical Technology, 2011 P. 1-14. - ISBN 978-80-7080-794-1 2
Matlab-Based Tools for Analysis and Control of Inverted Pendula Systems / Slávka Jadlovská, Ján Sarnovský - 2011. - 1 elektronický optický disk (CD-ROM). In: Electrical Engineering and Informatics 2 : proceeding of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice. - Košice, FEI TU, 2011 S. 403-408. - ISBN 978-80-553-0611-7[JADLOVSKÁ, Slávka - SARNOVSKÝ, Ján] 0
Inverted pendula simulation and modeling - a generalized approach / Slávka Jadlovská, Anna Jadlovská - 2010. - 1 elektronický optický disk (CD-ROM). In: Process Control 2010 : 9th International Conference : June 7 - 10, 2010, Kouty nad Desnou, Czech Republic. - Brno : Tribun EU, 2010 P. C134a-1-C134a-11. - ISBN 978-80-7399-951-3 4
A simulink library for inverted pendula modeling and simulation / Slávka Jadlovská, Anna Jadlovská - 2009. - 1 elektronický optický disk (CD-ROM). In: Technical Computing Prague 2009 : sborník příspěvků 17. ročníku konference : Praha, 19.11.2009. - Prague : Humusoft, 2009 P. 1-12. - ISBN 978-80-7080-733-0 0
Title Cit.
Advanced Generalized Modelling of Classical Inverted Pendulum Systems / Slávka Jadlovská ... [et al.] - 2015. In: Advances in Intelligent Systems and Computing. - Switzerland : Springer, 2015 Vol. 316, no. 1(2015), p. 255-264. - ISSN 2194-5357

2015 [1] MACHADO, J.A.T., LOPES, A.M. The N-link pendulum: Embedding nonlinear dynamics into the multidimensional scaling method In: Chaos, Solitons and Fractals Vol. 89 (2015), p. 130-138 ISSN: 0960-0779 

2017 [1] LOPES, A.M., MACHADO, Tenreiro J.A. Dynamics of the N-link pendulum: a fractional perspective In: International Journal of Control Vol. 90, no. 6 (2017), p. 1192-1200 ISSN: 0020-7179



2
A complex overview of modeling and control of the rotary single inverted pendulum system / Slavka Jadlovska, Jan Sarnovsky - 2013. In: Advances in Electrical and Electronic Engineering. Vol. 11, no. 2 (2013), p. 73-85. - ISSN 1336-1376 

2014 [1] QIN, Haohua - SHAO, Wei - GUO, Lantian Research and Verification on Swing-Up Control algorithm of Rotary Inverted Pendulum In: CCDC 2014 : 26-th Chinese Control and Decision Conference : 31 May - 2 June 2014, Changsha P. 4941-4944 ISBN: 978-1-4799-3706-6 

2015 [3] BABU, Jithin - VARGHESE, Elizabeth Stabilization of Rotary Arm Inverted Pendulum using State Feedback Techniques In: International Journal of Engineering Research & Technology Vol. 4, no. 7 (2015), p. 563-567 ISSN: 2278-0181 

2015 [3] SRIKANTH, Kavirayani, NAGESG G.V., Kumar Rotary inverted pendulum control and the impact of time delay on switching between stable and unstable states with enhanced particle swarm optimization In: International Journal of Computer and Communication System Engineering: IJCCSE Vol. 2, no. 4 (2015), p. 569-574 ISSN: 2312-7694 

2015 [3] SRIKANTH, K. Energy efficiency analysis with delayed control signal for a typical nonlinear dynamic system In: Proceedings of National Conference on Electrical Power and Energy Systems: EPES - 15 : May 8-9 2015, Visakhapatnam, Andra Pradesh 

2016 [1] SRINKATH, K, RAO, J.S., KUMAR, G.V.N. Stabilization at upright equilibrium position of Rotary Inverted Pendulum using particle swarms with constrained optimization In: WCI 2015 : IEEE Workshop on Computational Intelligence : Theories, Applications and Future Directions : Kanpur, 14-17 December, 2015 art. no. 7495542 ISBN: 978-146738215-1 

2016 [3] ELMASRUB, Hussein Ahmed - DAO ELGODBAN, Abulghasem - HASSAN ZAYED, Mohamed The Inverted Pendulum in Nonlinear Control Theory In: ACECS 2016 : 3rd International Conference on Automation, Control, Engineering and Computer Science : Hammarnet, March 20-22, 2016 P. 921-925 ISSN: 2356-5608 

2016 [3] BUI, Hoang Dong Deploying state space control to regulate an inverted rotary pendulum with non-zero input In: International Research Journal of Engineering and Technology Vol. 3, no. 11 (2016), p. 9-14 ISSN: 2395-0072 

2016 [3] NEETHA, R Design of controllers for a non-linear system using pole-placement and linear quadratic regulator technique to solve servo and regulatory problem In: International Journal of Engineering and Applied Sciences Vol. 3, no. 11 (2016), p. 57-61 ISSN: 2394-3661 

2016 [1] HAMZA, Fatihu Mukhtar et al. Simulation Studies for Stabilization Control of Furuta Pendulum System Using Cascade Fuzzy PD Controller In: International Journal of Simulation: Systems, Science and Technology Vol. 17, no. 35 (2016), p. 12.1-12.9 ISSN: 1473-8031 

2017 [1] KAVIRAYANI, Srikanth - KUMAR, Gv Nagesh Flower pollination for rotary inverted pendulum stabilization with delay In: Telkomnica Vol. 15, no. 1 (2017), p. 245-253 ISSN: 1693-6930

 2017 [1] GHOMMAN, Jawhar - CHEMORI, Ahmed Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems In: Nonlinear Dynamics Vol. 90, no. 1 (2017), p. 301-315 ISSN: 0924-090X 

2017 [3] ODILON, S. et al. Controle preditivo com garantia de estabilidade aplicado em um pendulo invertido In: SBAI 2017 : 13th Simpósio Brasileiro de Automacao Inteligente : Porto Alegre, 1-4 October, 2017 P. 2051-2056 ISSN: 2175-8905



















12
Modelling of Classical and Rotary Inverted Pendulum Systems - a Generalized Approach / Slávka Jadlovská, Ján Sarnovský - 2013. In: Journal of Electrical Engineering. Roč. 64, č. 1 (2013), s. 12-19. - ISSN 1335-3632 

2014 [3] JUNEJA, Mudita - TIWARI, Sheela Reduced Order Modeling of Triple Link Inverted Pendulum Using Particle Swarm Optimization Algorithm In: ICAET- 2014 : proceedings of International Conference on Advances in Engineering and Technology : 24-25 May, 2014, Roorkee P. 160-164 ISBN: 978-1-63248-028-6 

2014 [3] ANTONIO-CRUZ, Mayra et al. Modeling, Computer Aided Design, and Construction of a Furuta Pendulum Test-Bed In: Research in Computing Science Vol. 83, no. (2014), p. 133-143 ISSN: 1870-4069

2015 [1] ANTONIO-CRUZ, M. et al. Modeling, simulation, and construction of a furuta pendulum test-bed In: CONIELECOMP 2015 : 25th International Conference on Electronic, Communications and Computer : Cholula, February 25-27, 2015 P. 72-79 ISBN: 978-147997436-8 

2014 [1] CRUZ, Antonio, M. et al. Modeling and Construction of a Furuta Pendulum Prototype In: ICMEAE 2014 : International conference on mechatronics, electronics, and automotive engineering : proceedings : 18-21 November 2014, Cuernavaca P. 98-103 ISBN: 978-1-4799-4223-7 

2015 [1] JUNEJA, Mudita - NAGAR, S. K. Comparative Study of Model Order Reduction Using Combination of PSO with Conventional Reduction Techniques In: ICIC : International Conference on Industrial Instrumentation and Control : Pune, May 28-30, 2015 P. 406-411 ISBN: 978-1-4799-7165-7 

2016 [3] HAMZA, Mukhtar Fatihu et al. Application of Kane's Method for Dynamic Modeling of Rotary Inverted Pendulum System In: MNTMSim 2016 : First International Conference on Micro and Nano Technologies, Modeling and Simulation : 1-3 March 2016, Kuala Lumpur, Malaysia P. 27-32 ISBN: 978-1-5090-2406-3 

2017 [1] HAMZA, Mukhtar Fatihu et al. Simulation Studies for Stabilization Control of Furuta Pendulum System Using Cascade Fuzzy PD Controller In: International Journal of Simulation Systems, Science and Technology Vol. 17, no. no. 35 (2017), p. 12.1-12.9 ISSN: 1473-8031 

2017 [1] WADI, A., LEE, J.H., ROMDHANE, L. Dynamic Analysis of the Tited Furuta Pendulum In: MATEC Web of Conferences : IC4M 2017 : 2nd International Conference on Mechanical Manufacturing, Modeling and Mechatronics : Belgium, 24-26 February, 2017 Art. no. 02011 ISSN: 2261-236X 

2017 [3] KAFETZIS, Ioannis - MOYSIS, Lazaros Inverted Pendulum: A system with innumerable applications In: 9th international Week Dedicated to Maths 2017 : Thessaloniki, 15-19 March, 2017 P. 381-392 ISBN: 978-960-89672-8-1 

2017 [1] KONIGSMARKOVA, J., SCHLEGEL, M. Identification of n-link inverted pendulum on a cart In: PC 2017 : proceedings of the 21st International Conference on Process Control : Štrbské Pleso, June 6-9, 2017 P. 42-47 ISBN: 978-153864011-1












10
Application of the state-dependent Riccati equation method in nonlinear control design for inverted pendulum systems / Slávka Jadlovská, Ján Sarnovský - 2013. In: SISY 2013 : IEEE 11th International Symposium on Intelligent Systems and Informatics : proceedings : Subotica, Serbia, September 26-28, 2013. - Subotica : IEEE, 2013 P. 209-214. - ISBN 978-1-4799-0305-4

2014 [3] FONG, Teng T., JAMALUDIN, Z., ABDULLAH, L. System identification and modelling of rotary inverted pendulum In: International Journal Intelligent Systems and Applications Vol. 6, no. 6 (2014), p. 2342-2352 ISSN: 2231-1963 

2014 [1] ARBO, M., RAIJMAKERS, P.A., MLADENOV, V.M. Application of Neural Networks for Control of a Double Inverted Pendulum In: 12th Symposium on Neural Network Applications in Electrical Engineering NEUREL 2014 : Proceedings : Belgrade, Serbia : 25-27 November 2014 P. 89-92 ISBN: 978-1-4799-5888-7 

2016 [3] FONG, Teng T. et al. Design and Analysis of Linear Quadratic Regulator for a Non-linear Positioning System In: Applied Mechanics and Materials Vol. 761 (2016), p. 227-232 ISSN: 1662-7482 

2017 [1] SHARAFIAN, A., GHASEMI, R. Stable state dependent Riccati equation neural observer for a class of nonlinear systems In: International Journal of Modelling, Identification and Control Vol. 28, no. 3 (2017), p. 256-270 ISSN: 1746-6172






4
Modeling and Optimal Control of Nonlinear Underactuated Mechanical Systems – a Survey / Slávka Jadlovská - 2013.In: SCYR 2013 : Proceedings from conference : 13th Scientific Conference of Young Researchers : May 14th, 2013, Herľany, Slovakia. - Košice : FEI TU, 2013 S. 32 - 35. - ISBN 978-80-553-1422-8

2017 [1] GHOMMAN, Jawhar - CHEMORI, Ahmed Adaptive RBFNN finite-time control of normal forms for underactuated mechanical systems In: Nonlinear Dynamics Vol. 90, no. 1 (2017), p. 301-315 ISSN: 0924-090X


1
Classical double inverted pendulum – a complex overview of a system / S. Jadlovská, J. Sarnovský - 2012. - 1 elektronický optický disk (CD-ROM). In: SAMI 2012 : 10th IEEE Jubilee International Symposium on Applied Machine Intelligence and Informatics : proceedings : Herľany, Slovakia, January 26-28, 2012. - Budapest : IEEE, 2012 S. 103-108. - ISBN 978-1-4577-0195-5 

2014 [3] JAIWAT, Pathompong - OHTSUKA, Toshiyuki Real-time swing-up of double inverted pendulum by nonlinear model predictive control In: ADCONIP 2014 : 5th International Symposium on Advanced Control of Industrial Processes : May 28-30, 2014, Hiroshima P. 290-295 

2014 [3] ASHWANI, Kharola - PRAVIN, Patil - PUNIT, Gupta A Fuzzy Logic Controller for Stabilization and Control of Double Inverted Pendulum (DIP) Using Differet Membership Function (MF´s) In: AMO - Adavanced Modeling and Optimization [online] Vol. 16, no. 3 (2014), p. 547-558 ISSN: 1184-4311 

2014 [1] KAMIL, Haider G., ELDUKHRI, E.E., S. PACKIANATHER, M.S. Balancing Control of Robot Gymnast Based on Discrete-Time Linear Quadratic Regulator Technique In: AIMS 2014 : IEEE Second International Conference on Artuficial Intelligence, Modelling and Simulation : Madrid, Spail, 18-20 November 2014 P. 137-142 ISBN: 978-1-4799-7599-0 

2015 [3] KHAROLA, Ashwani - PATIL, Pravin Control of Double Inverted Pendulum (DIP) using Fuzzy Hybrid Adaptive Neuro Controller In: 2014 IEEE International Conference on Computational Intelligence and Computing Research : ICCIC 2014 : TamilNadu, India, December 18-20, 2014 P. 1-7 ISBN: 978-4799-3974-9 

2014 [3] LUENGAS, Lely Adriana C., CMARGO, Esperanza C., SÁNCHEZ, Giovanni P. Modelo y simulación de la marcha humana hemiparética In: Colim 2014 Memorias : 8 Congreso Latinoamerico de Ingeniería Mecánica : Cuenca - Ecuador : 25.-27.11.2014 P. 95-103 ISBN: 978-9978-10-201-5 

2015 [3] VAJAYAN, Sudharsana - MATHEWS, Merin IJEECS In: Design of Rotary Inverted Pendulum with LQR Controller Vol. 4, special no. (2015), p. 22-32 ISSN: 2348-117X 

2015 [1] PUNLABPHO, S., JEARSIRIPONGKUL, T. Control System for Double inverted pendulum on a cart by H-infinity controller In: International Review of Automatic Control Vol. 8, no. 4 (2015), p. 300-306 ISSN: 1974-6059 

2015 [3] MAITSCHKA, Christoph M., TERRA, Marco H., SIQUEIRA, Adriano A.G. Derivation of Markovian Controller for an Exoskeleton by overcome the Benchmark of a Double Inverted pendulum In: SBAI 2015 : 12. Simposio Brasileiro de Automacao Intelligente : Natal, October 25-28, 2015 P. 1-6 

2015 [1] MITSCHKA, Christoph M., TERRA, Marco H., SIQUEIRA, Adriano A.G. Derivation of a Markovian Controller for an Exo-Skeleton by overcome the Benchmarks of a Single and Double Inverted Pendulum In: CDC 2015 : 54th Annual Conference on Decision and Control : Osaka, Japan, December 15-18, 2015 P. 5061-5066 ISBN: 978-1-4799-7886-1 

2017 [1] GRAHAM, Brian - TURKOGLU, Kamran Design, Build and Integration of a Low-Cost Self-Erecting Inverted Pendulum Mechanism In: AIAA Modeling and Simulation Technologies Conference : Grapevine, USA, January 9-13, 2017 P. 1-21 ISBN: 978-1-62410-451-0 

2016 [1] DASH, Ranjita et al. Advance model for capturing real life human gait process In: ASME 2016 : IMECE2016 : Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition : Volume 4A: Dynamic, Vibration, and Control : Phoenix, Arizona, November 11-17, 2016 P. 1-10 ISSN: 978-0-7918-5054-1 

2017 [3] VOLJANSKAJA, N.V., VOLJANSKIJ, R.S. Matematičeskaja model sistemi dvojnoj obratnij majatnik-dvigatel pastojannovo toka In: Modern Information Technology : Sučasni Informacijni Technologii 2017 : Odesa, 22-24 May, 2017 P. 79-80 ISBN: 978-617-7424-42-9 

2017 [3] KAFETZIS, Ioannis - MAYSIS, Lazaros Inverted Pendulum: A system with innumerable applications In: 9th International Week Dedicated to Maths 2017 : Thessaloniki, 15-19 March, 2017 P. 381-392 ISBN: 978-960-89672-8-1


















13
A Complex Overview of the Rotary Single Inverted Pendulum System / Slávka Jadlovská, Ján Sarnovský - 2012. In: Elektro 2012 : 9th International Conference : May 21st - 22nd 2012, Žilina - Rajecké Teplice, Slovakia. - [Žilina] : IEEE, 2012 S. 305-310. - ISBN 978-1-4673-1178-6 

2014 [3] FONG, Teng T., JAMALUDIN, Z., ABDULLAH, L. System identification and modeling of rotary inverted pendulum In: International Journal of Advances in Engineering & Technology Vol. 6, no. 6 (2014), p. 2342-2352 ISSN: 2231-1963 

2013 [3] JAAFAR, S., JALI, M. H., ZOHEDI, F. N. State Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System In: Panyelidikan Pemacu Pembangunan Negara P. 470-480 ISBN: 978-967-0334-85-1 

2013 [4] RYBOVIČ, Andrej - PAŠKALA, Marek - BYSTRIČANOVÁ, Anna Design Control Strategy for Inverted Pendulum In: TRANSCOM 2013 : 10-th Europen Conference of Young Researchers and Scientists : Section 4 : Electric Power Systems Electrical and Electronic Engineering : Žlina, June 24-26, 2013, Slovak republic S. 97-100 ISBN: 978-80-554-0693-0 

2015 [3] VIJAYAN, Sudharsana - MATHEWS, Merin Design of Rotary Inverted Pendulum with LQR Controller In: IJEECS Vol. 4, special no. (2015), p. 22-32 ISSN: 2348-117X 

2017 [1] LIMA, Byron et al. Modeling and comparative study of linear and nonlinear controllers for rotary inverted pendulum In: Journal of Physics: Conference Series Vol. 783, no.1 (2017), article no. 012047 ISSN: 1742-6588







5
Swing-up and Stabilizing Control of Classical and Rotary Inverted Pendulum Systems / Slávka Jadlovská - 2012. - 1 elektronický optický disk (CD-ROM). In: SCYR 2012 : Proceedings from conference : 12th Scientific Conference of Young Researchers : May 15th, 2012, Herľany, Slovakia. - Košice, TU, 2012 S. 38-41. - ISBN 978-80-553-0943-9

2014 [1] QIN, Haohua, SHAO, Wei, GUO, Lantian Research and Verification on Swing-up Control Algorithm of Rotary Inverted Pendulum In: 26th Chinese Control and Decision Conference, CCDC 2014 : Changsha, China, 31 May - 2 June 2014 P. 4941-4945 ISBN: 978-147-993-7097 

2016 [3] HAZEM, I. Ali - RASHA, Mohammed Nadi Optimal and Robust Tuning of State Feedback Controller for Rotary Inverted Pendulum In: Engineering and Technology Journal Vol. 34, no. 15 (2016), p. 2924-2938 ISSN: 1681-6900



2
An extended simulink library for modeling and control of inverted pendula systems / Slávka Jadlovská, Ján Sarnovský - 2011. - 1 elektronický optický disk (CD-ROM). In: Technical Computing Prague 2011 : sborník příspěvků 19. ročníku konference : Praha, November 8, 2011. - Praha : Institute of Chemical Technology, 2011 P. 1-14. - ISBN 978-80-7080-794-1 

2015 [1] PEREIRA, M. C., WEBER, H. I. Analysis of the Oscillation of a Self-Excited Pendulum Due to Varying Length In: PANACM 2015 : 1st Pan-American Congress on Computational Mechanics : 27-29 April 2015 P. 272-280 ISBN: 978-84-943928-2-5 

2015 [3] VIJAYAN, Sudharsana - MATHEWS, Merin Design of Rotary Inverted Pendulum with LQR Controller In: IJEECS Vol. 4, special no. (2015), p. 22-32 ISSN: 2348-117X


2
Inverted pendula simulation and modeling - a generalized approach / Slávka Jadlovská, Anna Jadlovská - 2010. - 1 elektronický optický disk (CD-ROM). In: Process Control 2010 : 9th International Conference : June 7 - 10, 2010, Kouty nad Desnou, Czech Republic. - Brno : Tribun EU, 2010 P. C134a-1-C134a-11. - ISBN 978-80-7399-951-3 

2013 [3] SHAH, Nita - YEOLEKAR, Mahesh Pole Placement Approach for Controlling Double Inverted Pendulum In: Global Journal of Researches in Engineering Mechanical and Mechanics Engineering Vol. 13, no. 2 (2013), p. 17-22 ISSN: 0975-5861 

2013 [3] KORDA, Milan - HENRION, Didier - JONES, Colin N. Convex computation of the maximum controlled invariant set for polynomial control systems In: Mathematics - Optimization and Control 31 p. ISBN: HAL : hal-00804816, version 1 arXiv : 1303.6469 

2014 [1] KORDA, M., HENRION, D., JONES, C. N. Convex computation of the maximum controlled invariant set for polynomial control systems In: SIAM Journal on Control and Optimization Vol. 52, no. 5 (2014), p. 2944-2969 ISSN: 0363-0129 

2016 [1] DASH, Ranjita et al. Advance model for capturing real life human gait process In: ASME 2016 : IMECE2016 : Proceedings of the ASME 2016 International Mechanical Engineering Congress and Exposition : Volume 4A: Dynamic, Vibration, and ControlPhoenix, Arizona, November 11-17, 2016 P. 1-9 ISBN: 978-0-7918-5054-1





4
2018 (in progress)
sk: Embedded systémy ako riadiace systémy pre kráčajúci robot a iné fyzikálne systémy a ich implementácia do architektúry DSR
en: Embedded systems as Control Systems for Walking Robots and Other Physical Systems and Their Implementation into the Distributed Control System Architecture
Durkáč, Martin,IS_Bc_D
2018 (in progress)
sk: Implementácia výsledkov matematického modelovania fyzikálnych systémov do Výskumného laboratória nelineárnych podaktuovaných systémov s využitím moderných simulačných nástrojov
en: Implementation of the Results of Mathematical Modeling of Physical Systems into the Research Laboratory of Nonlinear Underactuated Systems Using Modern Simulation Tools
Cimborová, Karina,IS_Bc_D
2018 (in progress)
sk: Implementácia modelov kyber-fyzikálnych systémov do výskumného Laboratória podaktuovaných nelineárnych systémov s využitím efektívnych simulačných nástrojov
en: Implementation of Cyber-Physical System Models into the Research Laboratory of nonlinear underactuated systems using effective simulation tools
Gažík, Peter,IS_Ing_D
2018 (in progress)
sk: Programové moduly pre analýzu, riadenie a simuláciu modelov fyzikálnych systémov pre výskumné Laboratórium podaktuovaných nelineárnych systémov
en: Program Modules for the Analysis, Control and Simulation of Physical System Models for the Research Laboratory of Nonlinear Underactuated Systems
Andorko, Patrik,IS_Ing_D
2017
sk: Návrh programovej aplikácie pre modelovanie, simuláciu a riadenie podaktuovaného systému žeriav v programovom prostredí MATLAB
en: Design of an Application for Modeling, Simulation and Control of the Overhead Crane Underactuated System Using MATLAB
Marga, Igor,IS_Bc_D
2017
sk: Programové moduly pre analýzu, modelovanie a riadenie nelineárnych podaktuovaných dynamických systémov v programovom prostredí MATLAB
en: Program Tools for Modeling, Analysis and Control of Nonlinear Underactuated Dynamical Systems Using MATLAB
Korkobcová, Simona,IS_Bc_D
2017
sk: Simulácia kinematických a dynamických modelov plne aktuovanych a podaktuovaných robotických systémov
en: Simulation of Kinematic and Dynamical Models of Fully Actuated and Underactuated Robots
Tóth, Samuel,IS_Ing_D
2017
sk: Metódy a algoritmy optimálneho riadenia s aplikačným využitím pre nelineárne podaktuované systémy
en: Methods and Algorithms of Optimal Control with Applications for Nonlinear Underactuated Systems
Koska, Lukáš,IS_Ing_D
2016
sk: Optimálne riadenie podaktuovaných mechanických systémov
en: Optimal Control of Underactuated Mechanical Systems
Andorko, Patrik,IS_Bc_D
2016
sk: Aplikácia simulačných nástrojov v modelovaní a riadení podaktuovaných mechanických systémov
en: Application of Simulation Tools in Modeling and Control of Underactuated Mechanical Systems
Gažík, Peter,IS_Bc_D
2016
sk: Návrh softvérových nástrojov pre analýzu a riadenie nelineárnych podaktuovaných systémov
‬en: Design of Software Tools for the Analysis and Control of Nonlinear Underactuated Systems
‬Kentoš, Matej,IS_Ing_D
2016
sk: Riešenie optimalizačných úloh a ich využitie v prediktívnom riadení
en: Optimization Problems and their Application in Model Predictive Control
Šarníková, Alžbeta,HI_Ing_D
2015
sk: Návrh programových modulov pre analýzu a riadenie nelineárnych dynamických systémov
en: Design of Program Modules for the Analysis and Control of Nonlinear Dynamical Systems
Tóth, Samuel,KYB_Bc_D
2015
sk: Modelovanie, simulácia a riadenie nelineárnych mechanických systémov
en: Modeling, Simulation and Control of Nonlinear Mechanical Systems
Koska, Lukáš,KYB_Bc_D
2015
sk: Modelovanie a optimálne riadenie nelineárnych mechatronických systémov
en: Modeling and Optimal Control of Nonlinear Mechatronic Systems
Vojtek, Jaroslav,KaIRS_Ing_D
2015
sk: Metódy a algoritmy pre modelovanie a riadenie podaktuovaných mechanických systémov
en: Methods and Algorithms for Modeling and Control of Underactuated Mechanical Systems
Vošček, Dominik,KaIRS_Ing_D
2014
sk: Modelovanie a riadenie podaktuovaných mechanických systémov
en: Modeling and Control of Underactuated Mechanical Systems
Kentoš, Matej,KYB_Bc_D
2013
sk: Modelovanie a riadenie systémov inverzných kyvadiel II.
en: Modeling and Control of Inverted Pendula Systems II.
Vošček, Dominik,KYB_Bc_D
2013
sk: Modelovanie a riadenie systémov inverzných kyvadiel I.
en: Modeling and Control of Inverted Pendula Systems I.
Vojtek, Jaroslav,KYB_Bc_D

Research results