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Název: | State-space predictive control of inverted pendulum model |
Autor: | Rušar, Lukáš; Krhovják, Adam; Talaš, Stanislav; Bobál, Vladimír |
Typ dokumentu: | Článek ve sborníku (English) |
Zdrojový dok.: | Proceedings - 31st European Conference on Modelling and Simulation, ECMS 2017. 2017, p. 384-390 |
ISBN: | 978-0-9932440-4-9 |
DOI: | https://doi.org/10.7148/2017-0384 |
Abstrakt: | 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. © ECMS Zita Zoltay Paprika, Péter Horák, Kata Váradi,Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics (Editors). |
Plný text: | http://www.scs-europe.net/dlib/2017/2017-0384.htm |
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