Computation of Swing-up Signal for Inverted Pendulum Using Dynamic Optimization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F14%3A86092501" target="_blank" >RIV/61989100:27240/14:86092501 - isvavai.cz</a>
Result on the web
<a href="http://download.springer.com/static/pdf/493/chp%253A10.1007%252F978-3-662-45237-0_29.pdf?auth66=1427180450_01853a68f36fb20671b30647147c6cc7&ext=.pdf" target="_blank" >http://download.springer.com/static/pdf/493/chp%253A10.1007%252F978-3-662-45237-0_29.pdf?auth66=1427180450_01853a68f36fb20671b30647147c6cc7&ext=.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-662-45237-0" target="_blank" >10.1007/978-3-662-45237-0</a>

Result language
angličtina
Original language name
Computation of Swing-up Signal for Inverted Pendulum Using Dynamic Optimization
Original language description
The paper deals with computation and implementation of swing-up pulse for inverted pendulum educational model. It presents derivation of the full nonlinear mathematical model, formulation of dynamic optimization task and its solution by use of DYNOPT toolbox that finds control signal which causes rising of the pendulum into upright position. The control scheme containing this control signal is implemented in PAC (programmable automation controller) WinPAC-8000 with the use of REX Control System. The computed swing-up pulse is used for simulation in Simulink environment. The real measurement of state variables is also presented.
Czech name
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Czech description
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Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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