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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Modelling And Predictive Control Of
Inverted Pendulum |
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Authors: |
Petr Chalupa, Vladimír
Bobál |
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Published in:
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ECMS
2008 Proceedings Edited
by: Loucas S. Louca, Yiorgos Chrysanthou, Zuzana Oplatkova, Khalid Al-Begain ISBN:
978-0-9553018-6-5 Doi: 10.7148/2008 22nd
European Conference on Modelling and Simulation, Nicosia, June
3-6, 2008 |
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Citation
format: |
Chalupa, P., & Bobal,
V. (2008). Modelling And Predictive Control Of
Inverted Pendulum. ECMS 2008 Proceedings edited by: L. S. Louca,
Y. Chrysanthou, Z. Oplatkova,
K. Al-Begain (pp.
531-537). European Council for Modeling and Simulation. doi:10.7148/2008-0531 |
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DOI: |
http://dx.doi.org/10.7148/2008-0531 |
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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 MA TLAB/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. |
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