Close-Loop Control Identification of an Inverted Pendulum Based on Parameter Linear Regressor and Generalised Predictive Control+Integral Compensator

10.6567/IFToMM.14TH.WC.PS8.008

R. Bautista-Quintero；R. Dubay；J. A. Carretero；M. A. Díaz-Rodríguez

General predictive control ； regressor algorithm ； integral compensator ； parameter identification ； inverted pendulum

Proceedings of the 14th IFToMM World Congress

14th-5（2015 / 11 / 06）

318 - 322

英文

The paper describes a mathematical and practical study of a close-loop control system for an inverted pendulum. A General Predictive Control (GPC) along with an integral compensator are combined in order to keep the closed-loop-system stable. An identification (ID) algorithm is used to obtain the parameters of the system in order to enhance this approach to the adaptive case. The nonlinear dynamic model of this system has a complex interaction between the links which has challenged advanced control techniques. The contribution of this paper is related to unify a GPC control technique, an ID algorithm and an integral compensator used for reducing the uncertainties due to residual dynamics caused by link interaction.