• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.715-716
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• 2008

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.179-181
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• 2007

This paper presents the desired position control of the mobile inverted pendulum system(MIP). The MIP is required to track the circular trajectory in the xy plane through the kinematic Jacobian relationship between the xy plane and the joint space. The reference compensation technique of the radial basis function(RBF) network is used as a neural network control method. The back-propagation teaming algorithm of the RBF network is derived and embedded on a DSP board. Experimental studies of tracking the circular trajectory are conducted.