Title

Identification of a non-linear model type inverted rotary pendulum

DOI

https://doi.org/10.1109/CCAC.2017.8276379

Document Type

Conference Proceeding

Publication Date

1-30-2018

Publication Title

2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings

Abstract

Along with the technological advance of the industrial sector, the boom in process control systems has increased in recent years; however, the models employed in the industry are complex and non-linear, and conventional methods of modeling, identification and implementation of controllers are made from linear models in specific regions of operation. This linearization restricts the results and efficient data collection of the system, because it rejects useful information to optimize the processes. An inverted rotary pendulum is one of the most studied platforms in system identification and modeling theory, due to its known instability and complexity of its analytical model. This article shows the modeling and nonlinear identification of an inverted rotary pendulum of the manufacturer Quanser, along with its simulation, as part of the process of development of nonlinear controllers on complex plants, being the identified model the starting point for the design of these controllers, as a result of the process, an identified system is obtained for the simulated and real model with a low mean square error in its output signals process corresponding to pole and arm acceleration.

Volume

2018-January

First Page

1

Last Page

6

ISBN

9781538603987

Identifier

SCOPUS_ID:85047351404

Documento original

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