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The identification procedure specially designed for an n-link inverted pendulum on a cart is presented. By the Lagrangian mechanics, the mathematical model of the n-link inverted pendulum is established initially. To fully model the system, the standard dynamic parameters which are some algebraic functions of geometric, inertial, and friction parameters are introduced. Because the dynamic model of...
The paper presents novel tools for model-based control system design based on FMI/FMU standard (Functional Mock-up Interface / Unit). It is focused on application of FMI standard for easy integration of control system development cycle starting with Model-in-the-Loop (MIL) simulation and finishing with Hardware-in-the-Loop (HIL) simulation. It is shown, how the Functional Mock-up Units (FMU) containing...
The paper presents a new explicit and non-redundant parametrization of all state-derivative feedbacks assigning the required Jordan form to the dynamic matrix of the closed loop system. The proposed parametrization can be simply and effectively used for both numerical and symbolic calculations of the state-derivative feedbacks, and also for robust stability and robust performance optimizing.
This paper deals with design and control of unmanned underwater vehicle (UUV) for nondestructive testing and inspections of submerged technologies. It covers water tanks, dams, reservoir, etc. The vehicle is designed as a neutrally buoyant rigid body with platform containing the phased array probe for weld testing. It works in two regimes — remote operational regime (6DOF) and AUV regime (3DOF). For...
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