{"id":"https://openalex.org/W4200345699","doi":"https://doi.org/10.1177/00202940211035406","title":"Swing up and stabilization control of rotary inverted pendulum based on energy balance, fuzzy logic, and LQR controllers","display_name":"Swing up and stabilization control of rotary inverted pendulum based on energy balance, fuzzy logic, and LQR controllers","publication_year":2021,"publication_date":"2021-11-01","ids":{"openalex":"https://openalex.org/W4200345699","doi":"https://doi.org/10.1177/00202940211035406"},"language":"en","primary_location":{"id":"doi:10.1177/00202940211035406","doi":"https://doi.org/10.1177/00202940211035406","is_oa":true,"landing_page_url":"https://doi.org/10.1177/00202940211035406","pdf_url":null,"source":{"id":"https://openalex.org/S1004452751","display_name":"Measurement and Control","issn_l":"0020-2940","issn":["0020-2940","2051-8730"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-d","jufo-1","norway-1","oarl","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Measurement and Control","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1177/00202940211035406","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Muhammad Abdullah","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I201384688","display_name":"National University of Computer and Emerging Sciences","ror":"https://ror.org/003eyb898","country_code":"PK","type":"education","lineage":["https://openalex.org/I201384688"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Abdullah","raw_affiliation_strings":["Department of Electrical Engineering, FAST National University of Computer and Emerging Sciences, Chiniot, Punjab, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, FAST National University of Computer and Emerging Sciences, Chiniot, Punjab, Pakistan","institution_ids":["https://openalex.org/I201384688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034435578","display_name":"Arslan Ahmed Amin","orcid":"https://orcid.org/0000-0001-8035-595X","observed_orcids":["https://orcid.org/0000-0001-8035-595X"]},"institutions":[{"id":"https://openalex.org/I201384688","display_name":"National University of Computer and Emerging Sciences","ror":"https://ror.org/003eyb898","country_code":"PK","type":"education","lineage":["https://openalex.org/I201384688"]}],"countries":["PK"],"is_corresponding":true,"raw_author_name":"Arslan Ahmed Amin","raw_affiliation_strings":["Department of Electrical Engineering, FAST National University of Computer and Emerging Sciences, Chiniot, Punjab, Pakistan"],"raw_orcid":"https://orcid.org/0000-0001-8035-595X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, FAST National University of Computer and Emerging Sciences, Chiniot, Punjab, Pakistan","institution_ids":["https://openalex.org/I201384688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036100267","display_name":"Sajid Iqbal","orcid":"https://orcid.org/0000-0002-5971-584X","observed_orcids":["https://orcid.org/0000-0002-5971-584X"]},"institutions":[{"id":"https://openalex.org/I142732210","display_name":"University of Engineering and Technology Lahore","ror":"https://ror.org/0051w2v06","country_code":"PK","type":"education","lineage":["https://openalex.org/I142732210"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Sajid Iqbal","raw_affiliation_strings":["Department of Mechatronics & Control Engineering, University of Engineering and Technology, Lahore, Punjab, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics & Control Engineering, University of Engineering and Technology, Lahore, Punjab, Pakistan","institution_ids":["https://openalex.org/I142732210"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063596325","display_name":"Khalid Mahmood\u2010ul\u2010Hasan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I142732210","display_name":"University of Engineering and Technology Lahore","ror":"https://ror.org/0051w2v06","country_code":"PK","type":"education","lineage":["https://openalex.org/I142732210"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Khalid Mahmood-ul-Hasan","raw_affiliation_strings":["Department of Electrical Engineering, University of Engineering and Technology, Lahore, Punjab, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Engineering and Technology, Lahore, Punjab, Pakistan","institution_ids":["https://openalex.org/I142732210"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034435578"],"corresponding_institution_ids":["https://openalex.org/I201384688"],"apc_list":{"value":1600,"currency":"USD","value_usd":1600},"apc_paid":{"value":1600,"currency":"USD","value_usd":1600},"fwci":1.3873,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.82939167,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"54","issue":"9-10","first_page":"1356","last_page":"1370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.8701000213623047,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.8701000213623047,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.023399999365210533,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.01640000008046627,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rotary-inverted-pendulum","display_name":"rotary inverted pendulum","score":0.9990000128746033},{"id":"https://openalex.org/keywords/swing-up-control","display_name":"swing-up control","score":0.8510000109672546},{"id":"https://openalex.org/keywords/stabilization-control","display_name":"stabilization control","score":0.9869999885559082},{"id":"https://openalex.org/keywords/energy-balance","display_name":"energy balance","score":0.6439999938011169},{"id":"https://openalex.org/keywords/fuzzy-logic-control","display_name":"fuzzy logic control","score":0.9760000109672546},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"linear quadratic regulator","score":0.9580000042915344},{"id":"https://openalex.org/keywords/hybrid-control-strategy","display_name":"hybrid control strategy","score":0.9860000014305115},{"id":"https://openalex.org/keywords/unstable-nonlinear-systems","display_name":"nonlinear unstable systems","score":0.746999979019165},{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.6610000133514404}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8573094606399536},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6826637983322144},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5744940638542175},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46790820360183716},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42723989486694336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41457661986351013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35765188932418823},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35428035259246826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3353542685508728},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2654191255569458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08094042539596558},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/00202940211035406","doi":"https://doi.org/10.1177/00202940211035406","is_oa":true,"landing_page_url":"https://doi.org/10.1177/00202940211035406","pdf_url":null,"source":{"id":"https://openalex.org/S1004452751","display_name":"Measurement and Control","issn_l":"0020-2940","issn":["0020-2940","2051-8730"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-d","jufo-1","norway-1","oarl","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Measurement and Control","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c5ecb42f06b24fcba862630825d281a2","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/c5ecb42f06b24fcba862630825d281a2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Measurement + Control, Vol 54 (2021)","raw_type":"article"},{"id":"doi:10.60692/bhw70-pny37","doi":"https://doi.org/10.60692/bhw70-pny37","is_oa":true,"landing_page_url":"https://doi.org/10.60692/bhw70-pny37","pdf_url":null,"source":{"id":"https://openalex.org/S7407051682","display_name":"Greater South Information System","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},{"id":"doi:10.60692/hh7d6-9bw02","doi":"https://doi.org/10.60692/hh7d6-9bw02","is_oa":true,"landing_page_url":"https://doi.org/10.60692/hh7d6-9bw02","pdf_url":null,"source":{"id":"https://openalex.org/S7407051682","display_name":"Greater South Information System","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1177/00202940211035406","doi":"https://doi.org/10.1177/00202940211035406","is_oa":true,"landing_page_url":"https://doi.org/10.1177/00202940211035406","pdf_url":null,"source":{"id":"https://openalex.org/S1004452751","display_name":"Measurement and Control","issn_l":"0020-2940","issn":["0020-2940","2051-8730"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","dongbi-d","jufo-1","norway-1","oarl","poland-20","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Measurement and Control","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W83533993","https://openalex.org/W1993669145","https://openalex.org/W2092167966","https://openalex.org/W2094038688","https://openalex.org/W2133402733","https://openalex.org/W2173465960","https://openalex.org/W2243371315","https://openalex.org/W2526223676","https://openalex.org/W2528323728","https://openalex.org/W2584805665","https://openalex.org/W2593095272","https://openalex.org/W2782609343","https://openalex.org/W2791323822","https://openalex.org/W2796424854","https://openalex.org/W2981464906","https://openalex.org/W3004970380","https://openalex.org/W3081987430","https://openalex.org/W3083779445","https://openalex.org/W3137070631","https://openalex.org/W4206114340","https://openalex.org/W4233702315","https://openalex.org/W4233704825","https://openalex.org/W4234750310","https://openalex.org/W4236557640","https://openalex.org/W4239053883","https://openalex.org/W4251893757","https://openalex.org/W4253846243","https://openalex.org/W4312931138"],"related_works":["https://openalex.org/W1820603","https://openalex.org/W4416548931","https://openalex.org/W7098681898","https://openalex.org/W1989759878","https://openalex.org/W6949191067","https://openalex.org/W7098595682","https://openalex.org/W2164055142","https://openalex.org/W3012582046","https://openalex.org/W4402091821","https://openalex.org/W2020450609"],"abstract_inverted_index":{"Rotary":[0],"Inverted":[1],"Pendulum":[2],"(RIP)":[3],"mimics":[4],"the":[5,41,44,69,78,82,95,99,116,130,138,160,188,192],"behavior":[6],"of":[7,43,75,144],"many":[8],"practical":[9],"control":[10,19,47,74,80,107,135,140,164,168],"systems":[11],"like":[12],"crane":[13],"mechanism,":[14],"segway,":[15],"unicycle":[16],"robot,":[17],"traction":[18],"in":[20,91,142,191],"vehicles,":[21],"rocket":[22],"stabilization,":[23],"and":[24,35,61,72,101,149,180],"launching.":[25],"RIP":[26,155],"is":[27,36,65,112,170],"a":[28,52,153,176],"fourth-order":[29],"nonlinear":[30],"open-loop":[31],"unstable":[32],"dynamical":[33],"system":[34],"widely":[37],"used":[38],"for":[39,122],"testing":[40],"effectiveness":[42],"newly":[45],"developed":[46],"algorithms.":[48],"In":[49,77],"this":[50,123],"paper,":[51],"Hybrid":[53],"Control":[54],"Scheme":[55],"(HCS)":[56],"based":[57,163],"on":[58],"energy":[59],"balance":[60],"fuzzy":[62,83,132],"logic":[63],"controllers":[64],"proposed":[66,79,110,131,167],"to":[67,104,159,187],"implement":[68],"swing":[70],"up":[71],"stabilization":[73],"RIP.":[76],"scheme,":[81],"logic-based":[84,133],"state":[85],"feedback":[86],"gains":[87],"are":[88],"dynamically":[89],"tuned":[90],"real-time":[92],"by":[93],"minimizing":[94],"absolute":[96],"error":[97],"between":[98],"desired":[100,182],"actual":[102],"states":[103],"get":[105],"robust":[106,150],"performance.":[108],"The":[109,125,166],"HCS":[111],"also":[113,171],"compared":[114,158,186],"with":[115,175],"conventional":[117,161],"Linear":[118],"Quadratic":[119],"Controller":[120],"(LQR)":[121],"application.":[124],"comparative":[126],"results":[127],"show":[128],"that":[129],"hybrid":[134],"scheme":[136,169],"gives":[137],"optimal":[139],"performance":[141],"terms":[143],"achieving":[145],"satisfactory":[146],"transient,":[147],"steady-state,":[148],"responses":[151],"from":[152],"given":[154],"system,":[156],"as":[157,185],"LQR":[162],"scheme.":[165],"relatively":[172],"less":[173],"complex":[174],"low":[177],"computational":[178],"cost":[179],"provides":[181],"response":[183],"characteristics":[184],"existing":[189],"ones":[190],"literature.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2021-12-31T00:00:00"}
