Inverted pendulum optimal control based on first principle model

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F16%3A39902014" target="_blank" >RIV/00216275:25530/16:39902014 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-319-33389-2_7" target="_blank" >http://dx.doi.org/10.1007/978-3-319-33389-2_7</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-33389-2_7" target="_blank" >10.1007/978-3-319-33389-2_7</a>

Result language
angličtina
Original language name
Inverted pendulum optimal control based on first principle model
Original language description
This paper describes the design procedure of nonlinear dynamical model of a real system-inverted pendulum-cart with pendulum. The aim of the paper is to create a mathematical model based on known constructional, mechanical and electrical characteristics of the physical system. Such a model is linearized into standard linear time-invariant state-space model where the input is motor power voltage and the outputs are cart position and pendulum angle. A linear model is used for discrete-time LQ controller design-state variables are estimated and the cart position is controlled with pendulum in upright metastable position.
Czech name
—
Czech description
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Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
AUTOMATION CONTROL THEORY PERSPECTIVES IN INTELLIGENT SYSTEMS
ISBN
978-3-319-33387-8
ISSN
2194-5357
e-ISSN
—
Number of pages
12
Pages from-to
63-74
Publisher name
SPRINGER-VERLAG BERLIN
Place of publication
BERLIN
Event location
Prague
Event date
Apr 27, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000385788100007

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