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The macroscopic fundamental diagram (MFD) relates space-mean flow density and the speed of an entire network. We present a method for the estimation of a 'normalized' MFD with the goal to compute specific Fundamental Diagram in places where loop sensors data is no available. The methodology allows using some data from different points in the city and possibly combining several kinds of information. To this aim, we tackle at least three major concerns: the data dispersion, the sparsity of the data, and the role of the link (with data) within the network. To preserve the information we decided to treat it as two-dimensional signals (images), so we based our estimation algorithm on image analysis, preserving data veracity until the last steps (instead of first matching curves that induce a first approximation). Then we use image classification and filtering tools for merging of main features and scaling. Finally, just the Floating Car Data (FCD) is used to map back the general form to the specific road where sensors are missing. We obtained a representation of the street by means of its likelihood with other links within the same network. © 2018 IEEE.

[EN] This paper describes the development of a vehicle based on the stabilization of an inverted pendulum. The prototype has been designed and developed by the School of Engineering of Seville using commercial and low-cost components. Two vehicle controllers (linear and nonlinear) have been developed and applied. Moreover, they have been tested successfully in various experiments., [ES] En este artículo se describe el desarrollo de un vehículo basado en la estabilización de un péndulo invertido. El prototipo ha sido diseñado y realizado en la Escuela Superior de Ingenieros de Sevilla, utilizando componentes comerciales y de bajo coste. Para el control del vehículo se han implementado dos leyes de control (lineal y no lineal), habiéndose probado con éxito en diferentes experimentos.

[EN] This paper describes the development of a vehicle based on the stabilization of an inverted pendulum. The prototype has been designed and developed by the School of Engineering of Seville using commercial and low-cost components. Two vehicle controllers (linear and nonlinear) have been developed and applied. Moreover, they have been tested successfully in various experiments., [ES] En este artículo se describe el desarrollo de un vehículo basado en la estabilización de un péndulo invertido. El prototipo ha sido diseñado y realizado en la Escuela Superior de Ingenieros de Sevilla, utilizando componentes comerciales y de bajo coste. Para el control del vehículo se han implementado dos leyes de control (lineal y no lineal), habiéndose probado con éxito en diferentes experimentos.

We present a constructive tool for generation and orbital stabilization of periodic solutions for underactuated nonlinear systems. Our method can be applied to any mechanical system with a number of independent actuators smaller than the number of degrees of freedom by one. The synthesized feedback control law is nonlinear and time-dependent. It is derived from a feedback structure that explicitly uses the general or full integral of the systems zero dynamics. The control law generates a periodic solution and makes it exponentially orbitally stable.