Experimental validation of Iterative Feedback Tuning solutions for inverted pendulum crane mode control

The paper examines the applicability of Iterative Feedback Tuning (IFT) to the position control of the inverted pendulum system in crane mode. Two control solutions are considered, the linear one employing two PID controllers and the fuzzy control one based on two PID-fuzzy controllers. Real-time experiments validate the controller designs.

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