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Modelling and predictive control of inverted pendulum

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dc.title Modelling and predictive control of inverted pendulum en
dc.contributor.author Chalupa, Petr
dc.contributor.author Bobál, Vladimír
dc.relation.ispartof 22nd European Conference on Modelling and Simulation, Proceedings
dc.identifier.isbn 978-0-9553018-5-8
dc.date.issued 2008
dc.citation.spage 531
dc.citation.epage 537
dc.event.title 22nd European Conference on Modelling and Simulation (ECMS 2008)
dc.event.location Nicosia
utb.event.state-en Cyprus
utb.event.state-cs Kypr
dc.event.sdate 2008-06-03
dc.event.edate 2008-06-06
dc.type conferenceObject
dc.language.iso en
dc.publisher European Council for Modelling and Simulation (ECMS) en
dc.relation.uri http://www.scs-europe.net/conf/ecms2008/ecms2008%20CD/ecms2008%20pdf/mct-ECMS2008_0124.pdf
dc.subject Modelling en
dc.subject State space model en
dc.subject Inverted Pendulum en
dc.subject Predictive control en
dc.description.abstract 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 obtained on base 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 is designed in MATLAB/Simulink environment. 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. en
utb.faculty Faculty of Technology
dc.identifier.uri http://hdl.handle.net/10563/1001906
utb.identifier.obdid 18553194
utb.identifier.scopus 2-s2.0-79960335722
utb.identifier.wok 000261605800078
utb.source d-wok
dc.date.accessioned 2011-08-09T07:34:12Z
dc.date.available 2011-08-09T07:34:12Z
utb.contributor.internalauthor Chalupa, Petr
utb.contributor.internalauthor Bobál, Vladimír
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