Parameter identification and adaptive control applied to the inverted pendulum

  • Carlos A. Saldarriaga-Cortés Universidad Tecnológica de Pereira, Pereira
  • Víctor D. Correa-Ramírez Universidad Tecnológica de Pereira, Pereira
  • Didier Giraldo-Buitrago Universidad Tecnológica de Pereira, Pereira
Keywords: Adaptive control, parametric identification, mathematical model, controllability, stability, pole placement control.

Abstract

This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control. The plant to be used is an unstable and nonlinear system. This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems. The results show that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system. It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.

Author Biographies

Carlos A. Saldarriaga-Cortés, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingeniería,
Universidad Tecnológica de Pereira, Pereira
Víctor D. Correa-Ramírez, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingeniería,
Universidad Tecnológica de Pereira, Pereira
Didier Giraldo-Buitrago, Universidad Tecnológica de Pereira, Pereira
Facultad de Ingeniería, Universidad Tecnológica de Pereira, Pereira-Colombia
How to Cite
Saldarriaga-Cortés, C. A., Correa-Ramírez, V. D., & Giraldo-Buitrago, D. (2012). Parameter identification and adaptive control applied to the inverted pendulum. TecnoLógicas, (28), 71-87. https://doi.org/10.22430/22565337.14

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Published
2012-06-25
Section
Research Papers

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