Modelling of furuta´s pendulum

This paper presents a direction for creating a cheap RIP. Thence, authors apply LQR, a balancing control algorithm, and Furuta, a classical swing up the controller, on this model. Both controllers are designed based on a mathematical model of a real system.

9p vidoctorstrange 06-05-2023 7 4   Download

In this work a hybrid architecture is proposed to control the non-linear model of Furuta's inverted pendulum, in the flatness output space, achieving a tracking of a desired trajectory. To estimate the behavior of the plane outputs, the methodology of integrating reconstructors was used, framed in a control law proposed in the concept of sliding modes.

10p cleopatrahuynh 01-06-2020 16 3   Download