Comparison of Predictive and Fuzzy Control of Inverted Pendulum

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F09%3A63507895" target="_blank" >RIV/70883521:28140/09:63507895 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Comparison of Predictive and Fuzzy Control of Inverted Pendulum
Original language description
The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is created on the basis of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments. Contrary, the system was controlled by fuzzy controller which does to require mathematical model of the pendulum. Advantages and disadvan
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
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceeding of the 28th IASTED International Conference on Modelling, Identification and Control
ISBN
978-0-88986-781-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
ACTA Press
Place of publication
Calgary
Event location
Innsbruck
Event date
Feb 18, 2009
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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