Current development on using Rotary Inverted Pendulum as a benchmark for testing linear and nonlinear control algorithms

Rotary Inverted Pendulum (RIP) is an under-actuated mechanical system which is inherently nonlinear and unstable. For decades, it has been widely used as an experimental setup to explain and test different kinds of control algorithms. The main control objectives of RIP are: Swing-up control, stabilization control, switching control and trajectory tracking control. All these control objectives are described in this study. State-of-the art works...