Identification of n-link Inverted Pendulum on a Cart

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F17%3A43931953" target="_blank" >RIV/49777513:23520/17:43931953 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7976186/" target="_blank" >http://ieeexplore.ieee.org/document/7976186/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC.2017.7976186" target="_blank" >10.1109/PC.2017.7976186</a>

Result language
angličtina
Original language name
Identification of n-link Inverted Pendulum on a Cart
Original language description
The identification procedure specially designed for an n-link inverted pendulum on a cart is presented. By the Lagrangian mechanics, the mathematical model of the n-link inverted pendulum is established initially. To fully model the system, the standard dynamic parameters which are some algebraic functions of geometric, inertial, and friction parameters are introduced. Because the dynamic model of the n-link inverted pendulum is linear with respect to these parameters, the ordinary and weighted least squares techniques can be applied to estimation their values and the corresponding standard deviations. Also, the exact algorithms for numerical differentiation used in the formation of the regression model are described in detail. Finally, the results from identification of the real triple inverted pendulum are presented.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2017 21st International Conference on Process Control (PC), PC 2017
ISBN
978-1-5386-4011-1
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
42-47
Publisher name
IEEE
Place of publication
Danvers
Event location
Štrbské Pleso, Slovakia
Event date
Jun 6, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000412119800008

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