Publications & References
Papers by the SMS Pendulum Systems Project
Preprints and accepted papers will be listed here as they become available.
Related Work
The references below are cited in the project description and motivated the design of this platform.
Furuta, Yamakita & Kobayashi (1992)
K. Furuta, M. Yamakita, and S. Kobayashi, “Swing-up Control of Inverted Pendulum Using Pseudo-State Feedback,” Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 206, no. 4, pp. 263–269, 1992. DOI: 10.1243/pime_proc_1992_206_341_02
The original paper introducing the rotary inverted pendulum as a control benchmark.
Katz (2019): Blog post
B. Katz, “Furuta Pendulums,” Build-Its Blog, December 2019. build-its.blogspot.com
Direct inspiration for this platform: a demonstration that a low-cost, functional Furuta pendulum can be built from commercially available components.
Katz (2019): GitHub repository
B. Katz, “Furuta-Pendulum,” GitHub repository, 2019. github.com/bgkatz/Furuta-Pendulum
Open-source hardware and software files accompanying the blog post above.
Skuric et al. (2022): SimpleFOC
A. Skuric, H. C. Bank, R. Unger, M. Nilles, and D. Lazarevic, “SimpleFOC: A Field Oriented Control (FOC) Library for Controlling Brushless Direct Current (BLDC) and Stepper Motors,” Journal of Open Source Software, vol. 7, no. 74, p. 4232, 2022. DOI: 10.21105/joss.04232
ODrive Robotics (2024)
ODrive Robotics, “ODrive High-Performance Motor Control,” 2024. odriverobotics.com
Annaswamy, Johansson & Pappas, eds. (2023): CSS Road Map 2030
A. M. Annaswamy, K. H. Johansson, and G. J. Pappas (Eds.), “Control for Societal-Scale Challenges: Road Map 2030,” IEEE Control Systems Society, 2023. DOI: 10.1109/MCS.2024.3382376
Rossiter et al. (2023): Control Education Roadmap
J. A. Rossiter, C. G. Cassandras, J. Hespanha, et al., “Control Education for Societal-Scale Challenges: A Community Roadmap,” Annual Reviews in Control, vol. 55, 2023.