State-space predictive control of inverted pendulum model

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

State-space predictive control of inverted pendulum model

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

State-space predictive control of inverted pendulum model

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings - 31st European Conference on Modelling and Simulation, ECMS 2017

ISBN

978-099324404-9

ISSN

—

e-ISSN

neuvedeno

Počet stran výsledku

6

Strana od-do

384-390

Název nakladatele

European Council for Modelling and Simulation

Místo vydání

Madrid

Místo konání akce

Budapešť

Datum konání akce

23. 5. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000412119800060