Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

Blog Article

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 rat halloween decorations to be used is an unstable and nonlinear system.This fact, combined with the adaptive controller characteristics, allows the obtained tg02-0325m 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.