Identification of the parameters in inverted pendulum model [DC motor control]

Inverted pendulum systems are excellent test beds for control theory. An identification method for an inverted pendulum based on simulation models is considered. This method is able to search dynamic parameters effectively even if the pendulum has low resolution position encoders. Friction in the motor-cart system can be modeled with three components: viscous friction, and static (dry) friction terms Coulomb friction and stiction. The presented method is based on the pendulum time response, by using optimization tools. Experiments made both with Simulink based simulation model and a real electromechanical device have proven the full functionality of the proposed model in the real life conditions.