Fig 1.
Schematic of a standard RIP system.
Table 1.
Model parameters of QNET rotary pendulum.
Fig 2.
Baseline variable–structure LQIC procedure.
Fig 3.
Flow chart for the improved weight–adjustment law.
Fig 4.
The improved variable–structure LQIC procedure.
Fig 5.
QNET Rotary Inverted Pendulum setup.
Fig 6.
GUI of the LabVIEW control application.
Fig 7.
Pendulum’s response under normal conditions.
Fig 8.
Pendulum’s response under impulsive disturbances.
Fig 9.
Pendulum’s response under step disturbance.
Fig 10.
Pendulum’s response under sinusoidal disturbance.
Fig 11.
Pendulum’s response under model variation.
Table 2.
Summary of experimental results.