The design of the control system employs variation of the configuration of the links. Furthermore, there have been suggestions of the utilization of a linear quadratic to increase the performance especially in the region of the feedback regulator (Zhong and Rock 2001). In addition, it has been suggested that the use of the sliding approach provides augmented stabilization of equilibrium in the vertical configuration (Utkin, et al. 1999). A more accurate model of the friction should include static and coulomb friction and was therefore considered in two models that incorporated static and coulomb friction thus creating smoothness from the cart being stationery than when it was moving (Kaelbling, et al. 240). Another approach was the use of robust control techniques. These robust control techniques control have been applied to both single and double inverted pendulum systems (Crites and Barto 407). The incorporated controllers system provided a system where the amplitude related to the unmodelled friction was greatly minimized (Kaelbling, et al. 242). Other studies have demonstrated the compatibility of the inverted pendulum with several systems. An example is the study that used the neural network technique and a single bar reinforced technique. Both techniques were not successful (Crites and Barto 407).
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