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By Rita Okoye
Electrical engineer and control systems expert, Israel Olugbemi, has conducted extensive research on the existing framework for optimal and robust control of an Acrobot—an underactuated robotic system known for its challenging dynamics. His groundbreaking research aims to improve performance, minimise actuator strain, and ensure system stability in the face of real-world disturbances.
The Acrobot, often likened to a gymnast swinging on a high bar, is a classic problem in control engineering due to its instability and limited actuation. Olugbemi’s work leverages the H∞ (H-infinity) control methodology to linearise the Acrobot model around its unstable equilibrium point. This allows external disturbances and unpredictable inputs to be handled more effectively.
“By using H∞ control, we are able to dampen the effect of external signals that would normally destabilise the system,” Olugbemi explained. “The controller ensures the Acrobot returns to balance without saturating the actuator, which is critical for real-world applications.”
Olugbemi, who has a strong track record in maintaining and optimising power and control systems, also employed a generalised plant framework in his simulations. This framework helps model not only the Acrobot’s performance requirements but also integrates the likely disturbances that may arise during operation.
“The challenge was to create a system that isn’t just optimally controlled under ideal conditions, but remains robust even when things go wrong,” he said. “This is what makes our approach different—it accounts for the unpredictable.”
The research also addresses robustness through a method known as DK-iteration. This strategy tackles uncertainties in system parameters, an unavoidable issue in mechanical systems subject to wear and environmental variability.
In simulations, the Acrobot maintained its balance with minimal energy usage and no actuator saturation. “It’s a big step forward,” Olugbemi said, “because it opens the door for real-world implementation in assistive robotics, gymnastic systems, and even space applications where control precision is vital.”
Olugbemi’s insights come from years of hands-on engineering experience, including managing multi-million-dollar projects and reducing energy consumption in large-scale electrical systems. He previously worked with the Federal Capital Development Authority and the Warri Refining and Petrochemical Company.
His expertise in control systems is complemented by formal education from the University of Minnesota (MSECE) and the Federal University of Technology, Akure, where he earned his bachelor’s degree in Electrical and Electronics Engineering.
Beyond academia, Olugbemi is a member of both the Nigeria Society of Engineers and the International Association of Engineers (IAENG). His strong commitment to innovation and safety in engineering is evident in his record of reducing equipment failures and ensuring OSHA compliance.
With his research, Olugbemi contributes to the growing field of intelligent systems and robotics, where the ability to manage underactuated systems has broad implications—from drones and prosthetics to space exploration.
“The success of this project demonstrates that it is possible to merge optimality with robustness in practical control scenarios,” he noted. “It’s not just theory—it’s a path to smarter, safer machines.”
He believes that future developments may involve implementing the controller on a physical Acrobot for further validation. “Simulation results are promising, but the next step is hardware testing to fully realise the application potential,” he said.
