On Control of a Two-Link Non-Fixed-Base Inverted Pendulum With Guaranteed Uniqueness
Bibliographic record
Abstract
A nonlinear controller with guaranteed uniqueness of Filippov’s solution is presented for controlling a two-link non-fixed-base inverted pendulum. The control system is described by differential equations with discontinuous right-hand sides, which violates the requirements of the conventional solution theories to ordinary differential equations, i.e., the vector fields must be at least Lipschitz continuous. It has been shown that Lyapunov’s second method can be used for such non-smooth systems directly under the condition of existence and uniqueness of Filippov’s solution. For this non-smooth control system with three discontinuity surfaces, the uniqueness of the solution is studied using Filippov’s solution concept. The system itself is a nonlinear, non-autonomous dynamic system without an isolated equilibrium point, which violates the assumption of Lyapunov’s stability theory. To analyze the stability of the control system, a Lyapunov-like function is constructed, which satisfies all the requirements for a Lyapunov function. Such a function can serve as an upper bound of the region in which the pendulum can be stabilized. Simulation results are presented to validate the proposed approach.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".