About: Modelling and Predictive Control of Inverted Pendulum

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink environment. The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments. The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink environment. The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments. (en)
Title	Modelling and Predictive Control of Inverted Pendulum Modelling and Predictive Control of Inverted Pendulum (en)
skos:prefLabel	Modelling and Predictive Control of Inverted Pendulum Modelling and Predictive Control of Inverted Pendulum (en)
skos:notation	RIV/70883521:28140/08:63507101!RIV11-GA0-28140___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(1M0567), P(GP102/06/P286)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Chalupa, Petr Bobál, Vladimír
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Univerzita Tomáše Bati ve Zlíně / Fakulta aplikované informatiky
http://linked.open...dnocenehoVysledku	379926
http://linked.open...ai/riv/idVysledku	RIV/70883521:28140/08:63507101
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Modelling; State space model; Inverted Pendulum; Predictive control. (en)
http://linked.open.../riv/klicoveSlovo	Inverted Pendulum Modelling Predictive control. State space model
http://linked.open...ontrolniKodProRIV	[2B1B528192D4]
http://linked.open...v/mistoKonaniAkce	Nicosia, Cyprus
http://linked.open...i/riv/mistoVydani	Dudweiler, Germany
http://linked.open...i/riv/nazevZdroje	22nd European Conference on Modelling and Simulation
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Centre for Applied Cybernetics Computer Aided Design of Predictive Adaptive Control Systems
http://linked.open...UplatneniVysledku	2008
http://linked.open...iv/tvurceVysledku	Bobál, Vladimír Chalupa, Petr
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2008-01-01 (xsd:date)
number of pages	7 (xsd:int)
http://purl.org/ne...btex#hasPublisher	European Council for Modelling and Simulation
https://schema.org/isbn	978-0-9553018-5-8
http://localhost/t...ganizacniJednotka	28140

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