Adaptive control of an inverted pendulum

Aris Papadopoulos, Konstantinos Tsakalis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


This paper presents the development and experimental implementation of an indirect adaptive approach for swinging-up and stabilizing a torque-controlled inverted pendulum. The controller combines an adaptive estimator with a Proportional-Integral-Derivative controller and a nonlinear energy controller. The entire control algorithm is implemented using an Intel-based computer and the Matlab/Simulink environment. Experiments are performed to illustrate the properties of the adaptive control system, including the stabilization of a pendulum with unknown mass and length and in the presence of large disturbances. The resulting controller achieves practically global stabilization of the pendulum with minimal prior knowledge (range of parameters, noise bounds).

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Conference on Modelling, Identification and Control
EditorsM.H. Hamza
Number of pages6
StatePublished - 2004
EventProceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control - Grindelwald, Switzerland
Duration: Feb 23 2004Feb 25 2004


OtherProceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control


  • Adaptive Control
  • Applications: Educational Experiments
  • Energy Control
  • Nonlinear Systems
  • PID control

ASJC Scopus subject areas

  • Engineering(all)


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