Rotary inverted pendulum with real time control

Author

Barbosa, Daniel Ignacio ; Castillo, Juan Sebastián ; Combita, Luis Francisco

Author_Institution

Univ. Distrital Francisco Jose de Caldas, Bogotá, Colombia

fYear

2011

fDate

1-4 Oct. 2011

Firstpage

1

Lastpage

6

Abstract

This investigation presents the construction of a Real-time rotary inverted pendulum system using MATLAB, the description of the materials and methods for the construction are presented. To estimate the non-measurable parameters of the system a method based on the non-linear model, a set of data and a nonlinear least squares algorithm is carried out, the implementation of an energy based swing-up controller and a LQR stabilization controller is used to show the performance of the system.

Keywords

least squares approximations; linear quadratic control; nonlinear control systems; parameter estimation; pendulums; real-time systems; stability; LQR stabilization controller; MATLAB; nonlinear least squares algorithm; nonlinear model; nonmeasurable parameter estimation; real time control; real-time rotary inverted pendulum system; swing-up controller; system performance; Real-time control; energy swing-up; nonlinear least squares; rotary inverted pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)

Conference_Location

Bogota

Print_ISBN

978-1-4577-1689-8

Type

conf

DOI

10.1109/LARC.2011.6086851

Filename

6086851