1‑DOF Rotary Inverted Pendulum Control with LC‑RLDON.mp4

Closed‑loop control of a 1‑DOF rotary inverted pendulum using the proposed LC‑RLDON. The video shows swing‑up and stabilization from 30°, 90°, and 180° within 10 s, followed by disturbance rejection under 0.6, 0.9, and 1.1 N forces applied at 2 s. Part 1 – Swing‑up & stabilization (0–10 s): The pendulum starts from three distinct initial angles—30°, 90°, and 180°—and is driven to the upright equilibrium. LC‑RLDON achieves stable regulation in under 10 s for all cases without overshoot-induced divergence. Part 2 – Disturbance rejection (0–15 s): With the pendulum already stabilized, external horizontal impulses of 0.6 N, 0.9 N, and 1.1 N are applied at t = 2 s. The controller rapidly attenuates the induced deviations and re‑establishes the upright position.