Parameter identification and adaptive control applied to the inverted pendulum
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.
How to Cite
[1]
C. A. Saldarriaga-Cortés, V. D. Correa-Ramírez, and D. Giraldo-Buitrago, “Parameter identification and adaptive control applied to the inverted pendulum”, TecnoL., no. 28, pp. 71–87, Jun. 2012.
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