Partially Adaptive Control of an Inverted Pendulum and Cart System
نویسندگان
چکیده
منابع مشابه
Robust Adaptive Backstepping Control of Inverted Pendulum on Cart System
In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted...
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1 Purpose The purpose of this experiment is to apply controller and observer design techniques to a physical “difficult-to-control” system, namely, the inverted pendulum on a cart system. The controller will mainly be designed via optimal control techniques. The control objective is for the cart to track a square wave while the pendulum remains upright. Also, the controller must be improve the ...
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The Cart-Inverted Pendulum System (CIPS) is a classical benchmark control problem. Its dynamics resembles with that of many real world systems of interest like missile launchers, pendubots, human walking and segways and many more. The control of this system is challenging as it is highly unstable, highly non-linear, non-minimum phase system and underactuated. Further, the physical constraints o...
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ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 2001
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.14.259