{"id":"https://openalex.org/W2124130071","doi":"https://doi.org/10.23919/acc.2004.1383932","title":"Swing-up control of a serial double inverted pendulum","display_name":"Swing-up control of a serial double inverted pendulum","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2124130071","doi":"https://doi.org/10.23919/acc.2004.1383932","mag":"2124130071"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2004.1383932","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1383932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057766662","display_name":"Tomohiro Henmi","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Henmi","raw_affiliation_strings":["Department of Systems Engineering, Okayama University, Okayama, Japan","[Dept. of Syst. Eng., Okayama Univ., Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"[Dept. of Syst. Eng., Okayama Univ., Japan]","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085355268","display_name":"Mingcong Deng","orcid":"https://orcid.org/0000-0001-7411-6602"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mingcong Deng","raw_affiliation_strings":["Department of Systems Engineering, Okayama University, Okayama, Japan","[Dept. of Syst. Eng., Okayama Univ., Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"[Dept. of Syst. Eng., Okayama Univ., Japan]","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052294592","display_name":"Akira Inoue","orcid":"https://orcid.org/0000-0002-5000-9084"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Inoue","raw_affiliation_strings":["Department of Systems Engineering, Okayama University, Okayama, Japan","[Dept. of Syst. Eng., Okayama Univ., Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"[Dept. of Syst. Eng., Okayama Univ., Japan]","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057766662"],"corresponding_institution_ids":["https://openalex.org/I163770644"],"apc_list":null,"apc_paid":null,"fwci":2.6077,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90171985,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14225","display_name":"Advanced Sensor and Control Systems","score":0.9830999970436096,"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"}},"topics":[{"id":"https://openalex.org/T14225","display_name":"Advanced Sensor and Control Systems","score":0.9830999970436096,"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/T13717","display_name":"Advanced Algorithms and Applications","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9599000215530396,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8847822546958923},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.8621322512626648},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8590882420539856},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.7207577228546143},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.7168105840682983},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6247038841247559},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.6202512383460999},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45959433913230896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3476725220680237},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2933756411075592},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2746453881263733},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14251726865768433},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11317205429077148}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8847822546958923},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.8621322512626648},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8590882420539856},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.7207577228546143},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.7168105840682983},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6247038841247559},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.6202512383460999},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45959433913230896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3476725220680237},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2933756411075592},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2746453881263733},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14251726865768433},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11317205429077148},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2004.1383932","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1383932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1895327021","https://openalex.org/W2135448912","https://openalex.org/W2545616925"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W2366496871","https://openalex.org/W2614575562","https://openalex.org/W2041698009","https://openalex.org/W2689391174","https://openalex.org/W2669735925","https://openalex.org/W3216306759","https://openalex.org/W2372645633","https://openalex.org/W2204278379","https://openalex.org/W1544534375"],"abstract_inverted_index":{"A":[0,165],"swing-up":[1,136],"control":[2,13,66,97,123,132,137,145],"scheme":[3,14,67],"for":[4,148],"a":[5,65,69,73,113,121,135,149],"serial":[6],"double":[7],"inverted":[8],"pendulum":[9,20,39,44,128,142],"is":[10,15,99,116,163,168],"proposed.":[11],"The":[12,80,118],"to":[16,26,34,52,75,101,170],"swing":[17,27,35,102],"up":[18,28,36,103],"the":[19,29,37,42,46,54,58,84,87,90,95,104,108,126,140,154,161,172,175],"in":[21,151],"three":[22],"steps,":[23],"step":[24,32,50,64,74,77,93,111,152],"1:":[25],"first":[30,43,105,127],"pendulum,":[31],"2:":[33],"second":[38,141],"while":[40],"stabilizing":[41,158],"at":[45],"upright":[47],"position,":[48],"and":[49,68,134],"3:":[51],"stabilize":[53],"two":[55],"pendulums":[56,162],"around":[57],"unstable":[59],"equilibrium":[60],"state.":[61],"In":[62],"each":[63],"switching":[70],"rule":[71,81],"from":[72],"next":[76],"are":[78],"given.":[79,117],"bases":[82],"on":[83],"states":[85],"of":[86,92,110,125,139,160,174],"system.":[88],"For":[89,107],"controller":[91,109,150,157],"1,":[94],"energy":[96,144],"method":[98,115,119,124,133,138],"applied":[100],"pendulum.":[106],"2,":[112],"new":[114],"combines":[120],"stabilization":[122],"using":[129,143],"sliding":[130,155],"mode":[131,156],"method.":[146],"And":[147],"3,":[153],"both":[159],"used.":[164],"numerical":[166],"simulation":[167],"given":[169],"show":[171],"effectiveness":[173],"proposed":[176],"scheme.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}