This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation control problems via the new sliding mode control scheme using both simulations and experiments of rotary inverted pendulum (RIP) underactuated systems. According to the Lyapunov theory, a section of the pendulum was compensated with a scale error in the upright position, as the desired trajectory was followed by the pendulum arm section. As the RIP’s dynamic equations were nonlinearly complex and coupled, the complex internal dynamics made the task of controller design difficult. The system control for the pathway of the reference model of the rotational actuator with the application of the sliding mode technique for moving back and forth up the inverted pendulum’s structure, till the arm to reach the linear range round the vertical upright position, was created and tested in an existent device. The stabilisation scheme was switched on in the sliding mode as soon as the arm reached the linear range. A comparison of the stabilisation performance for the same rotating inverted pendulum as discussed by other authors revealed that the proposed controller was more flexible and reliable in terms of the swing up and stabilisation time.

This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.

Effective traffic control methods, whether at intersections or other nodes within the road network, play a critical role in ensuring traffic quality and safety. An inappropriate choice of traffic control techniques or poorly optimized light signal programming at intersections often leads to unsatisfactory service levels. This study specifically addresses the issues related to intersections controlled by traffic lights. It aims to identify the key factors influencing the regulation and programming of traffic lights, with a focus on using different microcontrollers, particularly the Raspberry Pi. The primary objective of this research is to develop a methodology and an adapted programming approach to the Raspberry Pi microcontroller to improve traffic performance at intersections and provide sustainable mobility. To achieve this goal, a prototype of a traffic light-controlled intersection was constructed and managed by a Raspberry Pi Model microcontroller. The prototype integrates sensors to collect real-time traffic data, enabling adaptive and efficient signal control. This prototype is now part of the Laboratory of Traffic and Transport at the University of Prishtina. It is used as a model for responsible institutions for motorized traffic management in urban areas. Our findings support scalable deployment in developing countries with minimal infrastructure. Comparative results and reproducible Python code enhance reliability and transparency. The study further includes a comparative analysis of results, presented through diagrams, to evaluate the system’s efficiency.