# Accounts of using the Tustin-Net architecture on a rotary inverted pendulum

arXiv: https://arxiv.org/abs/2408.12266 · HTML: https://mlsanity.com/paper/2408.12266/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 18 references that are in the map.
- First posted on arXiv 22 Aug 2024.

## Builds on (most cited first, 1 of 1)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)

## Abstract (arXiv)

In this report we investigate the use of the Tustin neural network architecture (Tustin-Net) for the identification of a physical rotary inverse pendulum. This physics-based architecture is of particular interest as it builds on the known relationship between velocities and positions. We here aim at discussing the advantages, limitations and performance of Tustin-Nets compared to first-principles grey-box models on a real physical apparatus, showing how, with a standard training procedure, the former can hardly achieve the same accuracy as the latter. To address this limitation, we present a training strategy based on transfer learning that yields Tustin-Nets that are competitive with the first-principles model, without requiring extensive knowledge of the setup as the latter.