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Inverted Pendulum is a nonlinear, coupling, variable and naturally unsteady system. In order to control the system, the mathematic model through lag range equation was set up and the LQR Controller was designed in this paper. Last, the author analyzes the control results and obtains superior parameters through simulation. The experimental results show that LQR control is more effective and robust.
As various parameters of cement rotary kiln temperature control system means the relationships of strong coupling, nonlinearity and fast time-variety, there are many factors impact the temperature of combustion. Aiming at the constant control, an improved PID control method based on RBF neural network is proposed, and a new model of temperature intelligent controller to control nonlinear systems for...
This paper presents a speed controller for an interior permanent magnet synchronous motor (IPMSM) based on adaptive backstepping method. IPMSM speed is acquired through extended-EMF method, which is simple to achieve and has a good dynamic performance. A novel nonlinear control strategy, backstepping, is used to design speed tracking and current controllers. The system can achieve fast speed tracking...
Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dynamic model has been established, and the mathematical model which established has been certificated...
Over the last decade, numbers of researcher has been increased in the two-wheeled inverted pendulum mobile robots or commonly known as balancing robot. This paper presents the linear modeling of two wheels inverted pendulum mobile robot and the robustness of sliding mode control. Linear modeling plant was obtained from the simplified nonlinear plant that was based on state-space approach. The dynamic...
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