System Identification of an Inverted Pendulum on a Cart using Compressed Sensing
نویسندگان
چکیده
This paper deals with system identification of a nonlinear, dynamic SIMO system of an inverted pendulum on a cart. Using the approach of compressed sensing the Ordinary Differential Equations (ODEs) describing the dynamics of this system are obtained from a time series data of the inputs and outputs. A library of functions is created and the correct coefficients of these functions are identified by applying the Basis Pursuit technique. This work modifies and improves the technique developed by Lai, et al. (2011), enabling it to identify complex coupled systems much more accurately and robustly, requiring fewer measurements.
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