Open AccessInverted Pendulum Optimal Control Based on First Principle Model
Author(s) -
František Dušek,
Daniel Honc,
K Rahul Sharma,
Libor Havlíček
Publication year - 2016
Publication title -
advances in intelligent systems and computing
Language(s) - English
Resource type - Book series
eISSN - 2194-5365
pISSN - 2194-5357
DOI - 10.1007/978-3-319-33389-2_7
Subject(s) - inverted pendulum , control theory (sociology) , pendulum , position (finance) , nonlinear system , double inverted pendulum , state space , computer science , cart , double pendulum , controller (irrigation) , mathematics , control (management) , physics , engineering , artificial intelligence , finance , agronomy , statistics , mechanical engineering , biology , economics , quantum mechanics
This paper describes the design procedure of nonlinear dynamical model of a real system-inverted pendulum-cart with pendulum. The aim of the paper is to create a mathematical model based on known constructional, mechanical and electrical characteristics of the physical system. Such a model is linearized into standard linear time-invariant state-space model where the input is motor power voltage and the outputs are cart position and pendulum angle. A linear model is used for discrete-time LQ controller design-state variables are estimated and the cart position is controlled with pendulum in upright metastable position.Příspěvek se zabývá návrhem řízení nelineárního dynamického modelu inverzního kyvadla s vozíkem. Cílem je vytvořit matematický model reálného zařízení včetně motoru, linearizovat jej a aplikovat diskrétní LQ regulátor s odhadem stavů
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