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In this paper, we give a x-z inverted pendulum driven via the combination of the horizontal and vertical control forces. The x-z inverted pendulum can move in the horizontal and vertical space. Stabilization and tracking control of this type inverted pendulum is given with PID controllers. Control performance of the x-z inverted pendulum is compared with that of the customary inverted pendulum. Simulation results show that the x-z inverted pendulum not only can realize more fast and accurate stabilization and tracking control, but also have more flexibility than the customary inverted pendulum.

Position and speed tracking control are two kinds of important attitude control of inverted pendulum. In this paper, double PID controllers are applied in position and speed tracking control of inverted pendulum. Two design schemes with different structure of double PID controllers are given. One scheme is double series PID controllers. And the other is double parallel PID controllers. The detailed comparison of two schemes is given. Simulation results show that the double parallel PID controllers can not only realize better position and speed tracking control of inverted pendulum, but also have better robustness than the double series PID controllers.

This paper presents the simulation scheme of voltage-source inverter-fed vector-controlled permanent magnet synchronous motor(PMSM) drive system based on space vector pulse width modulation(SVPWM) with dead-time. The simulation structure of SVPWM is analyzed in details and realization scheme of SVPWM is constructed by Matlab/simulink blocks. A novel generation method of dead-time is designed using simulink blocks. At last, vector-controlled scheme of PMSM based on SVPWM with dead-time are simulated with Matlab/simulink tools. Simulation results are given to show the rightness and feasibility of the scheme given in this paper.

Recently automatic 3D caricature face generation has attracted much attention from both the research community and the game industry. With the developing of computer vision and modeling, it has become the key technique of virtual avatar and computer games. Let the cartoon face resemble the realistic picture to be customized avatar standing for the user himself. Then the cartoon face also has some exaggeration that can protect the privacy while transmitting through internet. Although it has received considerable attention in computer graphics, due to the lack of 3D caricature sample that many current 3D caricature generation systems required, it still remains as a challenge to generate a satisfactory caricature face model. 3D cartoon face model can be generated from an ordinary frontal face photograph in this paper. We first use an improved ASM to detect the face feature points and receive the different face components region and their distribution. Then transform the face components shape and face contour according to the mean art exaggerate formulae by manifold RBF. The face texture can be transformed from real picture to cartoon one by PCA. Finally, we implement a prototype system that can transform the ordinary face picture into some real and caricature model that can be applied successfully in multi-user educational game to provide human-like avatars. The effectiveness of the proposed technique is demonstrated by the experimental results.