State-space predictive control of inverted pendulum model
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F17%3A63516743" target="_blank" >RIV/70883521:28140/17:63516743 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.7148/2017-0384" target="_blank" >http://dx.doi.org/10.7148/2017-0384</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.7148/2017-0384" target="_blank" >10.7148/2017-0384</a>
Alternative languages
Result language
angličtina
Original language name
State-space predictive control of inverted pendulum model
Original language description
This paper presents a possible way to control the a very fast nonlinear systems. The system of the inverted pendulum was chosen as an exemplar process. This is an example of the nonlinear single-input multi-output process with a sampling period in order of milliseconds. The state-space predictive control was chosen as a control method and the system is described by CARIMA model. The whole process of the controller design is described in this paper. That includes a description of the inverted pendulum nonlinear mathematical model and its linearization, the inference of the output values prediction and the control signal calculation. The control signal is calculated by predictor-corrector method. The results compare several optimization methods to achieve the fastest calculation of the control signal. All of the simulation was done in Matlab.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings - 31st European Conference on Modelling and Simulation, ECMS 2017
ISBN
978-099324404-9
ISSN
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e-ISSN
neuvedeno
Number of pages
6
Pages from-to
384-390
Publisher name
European Council for Modelling and Simulation
Place of publication
Madrid
Event location
Budapešť
Event date
May 23, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000412119800060