Inverted Pendulum Optimal Control Based on First Principle Model Article Swipe
František Dušek
,
Daniel Honc
,
K Rahul Sharma
,
Libor Havlíček
·
YOU?
·
· 2016
· Open Access
·
· DOI: https://doi.org/10.1007/978-3-319-33389-2_7
YOU?
·
· 2016
· Open Access
·
· DOI: https://doi.org/10.1007/978-3-319-33389-2_7
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.
Related Topics
Concepts
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
Metadata
- Type
- book-chapter
- Language
- en
- Landing Page
- https://doi.org/10.1007/978-3-319-33389-2_7
- OA Status
- hybrid
- Cited By
- 3
- References
- 3
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2468269248
All OpenAlex metadata
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https://openalex.org/W2468269248Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1007/978-3-319-33389-2_7Digital Object Identifier
- Title
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Inverted Pendulum Optimal Control Based on First Principle ModelWork title
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book-chapterOpenAlex work type
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enPrimary language
- Publication year
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2016Year of publication
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2016-01-01Full publication date if available
- Authors
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František Dušek, Daniel Honc, K Rahul Sharma, Libor HavlíčekList of authors in order
- Landing page
-
https://doi.org/10.1007/978-3-319-33389-2_7Publisher landing page
- Open access
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YesWhether a free full text is available
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hybridOpen access status per OpenAlex
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https://doi.org/10.1007/978-3-319-33389-2_7Direct OA link when available
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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 mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
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3Total citation count in OpenAlex
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2020: 2, 2017: 1Per-year citation counts (last 5 years)
- References (count)
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3Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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