{"id":"https://openalex.org/W3131355897","doi":"https://doi.org/10.1109/access.2021.3058645","title":"Real-Time Swing-Up Control of Non-Linear Inverted Pendulum Using Lyapunov Based Optimized Fuzzy Logic Control","display_name":"Real-Time Swing-Up Control of Non-Linear Inverted Pendulum Using Lyapunov Based Optimized Fuzzy Logic Control","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3131355897","doi":"https://doi.org/10.1109/access.2021.3058645","mag":"3131355897"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3058645","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3058645","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09352702.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09352702.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052087694","display_name":"Arpit Jain","orcid":"https://orcid.org/0000-0002-9614-1750"},"institutions":[{"id":"https://openalex.org/I5847235","display_name":"University of Petroleum and Energy Studies","ror":"https://ror.org/04q2jes40","country_code":"IN","type":"education","lineage":["https://openalex.org/I5847235"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Arpit Jain","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India"],"raw_orcid":"https://orcid.org/0000-0002-9614-1750","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India","institution_ids":["https://openalex.org/I5847235"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101633487","display_name":"Abhinav Sharma","orcid":"https://orcid.org/0000-0003-3014-9079"},"institutions":[{"id":"https://openalex.org/I5847235","display_name":"University of Petroleum and Energy Studies","ror":"https://ror.org/04q2jes40","country_code":"IN","type":"education","lineage":["https://openalex.org/I5847235"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abhinav Sharma","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India"],"raw_orcid":"https://orcid.org/0000-0003-3014-9079","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India","institution_ids":["https://openalex.org/I5847235"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070589164","display_name":"Vibhu Jately","orcid":"https://orcid.org/0000-0002-9354-9830"},"institutions":[{"id":"https://openalex.org/I4210124908","display_name":"Malta College of Arts, Science and Technology","ror":"https://ror.org/02z1kxt68","country_code":"MT","type":"education","lineage":["https://openalex.org/I4210124908"]}],"countries":["MT"],"is_corresponding":false,"raw_author_name":"Vibhu Jately","raw_affiliation_strings":["MCAST Energy Research Group, Institute of Engineering and Transport, Malta College of Arts, Science and Technology, Paola, Malta"],"raw_orcid":"https://orcid.org/0000-0002-9354-9830","affiliations":[{"raw_affiliation_string":"MCAST Energy Research Group, Institute of Engineering and Transport, Malta College of Arts, Science and Technology, Paola, Malta","institution_ids":["https://openalex.org/I4210124908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084105803","display_name":"Brian Azzopardi","orcid":"https://orcid.org/0000-0002-7776-9390"},"institutions":[{"id":"https://openalex.org/I4210124908","display_name":"Malta College of Arts, Science and Technology","ror":"https://ror.org/02z1kxt68","country_code":"MT","type":"education","lineage":["https://openalex.org/I4210124908"]}],"countries":["MT"],"is_corresponding":false,"raw_author_name":"Brian Azzopardi","raw_affiliation_strings":["MCAST Energy Research Group, Institute of Engineering and Transport, Malta College of Arts, Science and Technology, Paola, Malta"],"raw_orcid":"https://orcid.org/0000-0002-7776-9390","affiliations":[{"raw_affiliation_string":"MCAST Energy Research Group, Institute of Engineering and Transport, Malta College of Arts, Science and Technology, Paola, Malta","institution_ids":["https://openalex.org/I4210124908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109338374","display_name":"Sushabhan Choudhury","orcid":null},"institutions":[{"id":"https://openalex.org/I5847235","display_name":"University of Petroleum and Energy Studies","ror":"https://ror.org/04q2jes40","country_code":"IN","type":"education","lineage":["https://openalex.org/I5847235"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sushabhan Choudhury","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, University of Petroleum and Energy Studies, Dehradun, India","institution_ids":["https://openalex.org/I5847235"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5052087694"],"corresponding_institution_ids":["https://openalex.org/I5847235"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.3583,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.93332961,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"50715","last_page":"50726"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9961000084877014,"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":0.9961000084877014,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9661999940872192,"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/T10244","display_name":"Chaos control and synchronization","score":0.9650999903678894,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8748010993003845},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7685500383377075},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6929131746292114},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6264190077781677},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6254642009735107},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6082921028137207},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.555662214756012},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5489228367805481},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5290840268135071},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43122604489326477},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35725608468055725},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.21616032719612122},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16848346590995789},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16038978099822998},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12354668974876404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09354272484779358}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8748010993003845},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7685500383377075},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6929131746292114},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6264190077781677},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6254642009735107},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6082921028137207},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.555662214756012},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5489228367805481},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5290840268135071},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43122604489326477},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35725608468055725},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.21616032719612122},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16848346590995789},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16038978099822998},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12354668974876404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09354272484779358},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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:10.1109/access.2021.3058645","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3058645","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09352702.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:www.um.edu.mt:123456789/99344","is_oa":true,"landing_page_url":"https://www.um.edu.mt/library/oar/handle/123456789/99344","pdf_url":null,"source":{"id":"https://openalex.org/S4306400782","display_name":"OAR@UM (University of Malta)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I197854408","host_organization_name":"University of Malta","host_organization_lineage":["https://openalex.org/I197854408"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:666e32d1b4e14a4da391cd7f4d375907","is_oa":true,"landing_page_url":"https://doaj.org/article/666e32d1b4e14a4da391cd7f4d375907","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,"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":"IEEE Access, Vol 9, Pp 50715-50726 (2021)","raw_type":"article"},{"id":"pmh:oai:zenodo.org:4604094","is_oa":true,"landing_page_url":"https://zenodo.org/record/4604094","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3058645","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3058645","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09352702.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6436220852","display_name":null,"funder_award_id":"857484","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3131355897.pdf","grobid_xml":"https://content.openalex.org/works/W3131355897.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W94581532","https://openalex.org/W292489513","https://openalex.org/W333500581","https://openalex.org/W1455741364","https://openalex.org/W1485268022","https://openalex.org/W1544607772","https://openalex.org/W1934973167","https://openalex.org/W2032775349","https://openalex.org/W2038190934","https://openalex.org/W2061430293","https://openalex.org/W2061920346","https://openalex.org/W2062706881","https://openalex.org/W2114186483","https://openalex.org/W2162097612","https://openalex.org/W2181731440","https://openalex.org/W2259289169","https://openalex.org/W2338205006","https://openalex.org/W2484215240","https://openalex.org/W2538083541","https://openalex.org/W2551268236","https://openalex.org/W2773227141","https://openalex.org/W2782609343","https://openalex.org/W2788829484","https://openalex.org/W2912565176","https://openalex.org/W2931902277","https://openalex.org/W2983633333","https://openalex.org/W2997390317","https://openalex.org/W3004970380","https://openalex.org/W3081987430","https://openalex.org/W3094058178","https://openalex.org/W3159177560","https://openalex.org/W3162882181","https://openalex.org/W4211007335","https://openalex.org/W4250453722","https://openalex.org/W6686063492","https://openalex.org/W6728763875","https://openalex.org/W6794989883"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W2614575562","https://openalex.org/W2372645633","https://openalex.org/W2689391174","https://openalex.org/W2159724666","https://openalex.org/W1895518536"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,47,56,60,68,77,83,105,123,126],"efficacy":[4],"of":[5,67,82,100,125],"an":[6,63,74,119],"optimized":[7,44],"fuzzy":[8,27],"logic":[9],"controller":[10,28,33,51,94],"for":[11,32,62],"real-time":[12],"swing-up":[13,107],"control":[14],"and":[15,79,103],"stabilization":[16],"to":[17,35,88],"a":[18,96],"rigidly":[19],"coupled":[20],"twin-arm":[21],"inverted":[22],"pendulum":[23],"system.":[24,69,127],"The":[25,39,50,70,92],"proposed":[26,93],"utilizes":[29],"Lyapunov":[30],"criteria":[31],"design":[34,52],"ensure":[36],"system":[37,85],"stability.":[38],"membership":[40],"functions":[41],"are":[42,115],"further":[43],"based":[45,54],"on":[46,55],"entropy":[48],"function.":[49],"is":[53],"black-box":[57],"approach,":[58],"eliminating":[59],"need":[61],"accurate":[64],"mathematical":[65],"model":[66],"experimental":[71],"results":[72],"shows":[73],"improvement":[75,121],"in":[76,122],"transient":[78],"steady-state":[80],"response":[81],"controlled":[84],"as":[86],"compared":[87],"other":[89],"state-of-the-art":[90],"controllers.":[91],"exhibits":[95],"small":[97],"settling":[98],"time":[99],"4.0":[101],"s":[102],"reaches":[104],"stable":[106],"position":[108],"within":[109],"5":[110],"oscillations.":[111],"Various":[112],"error":[113],"indices":[114],"evaluated":[116],"that":[117],"validates":[118],"overall":[120],"performance":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}