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Computation of Swing-up Signal for Inverted Pendulum Using Dynamic Optimization

Abstract : The paper deals with computation and implementation of swing-up pulse for inverted pendulum educational model. It presents derivation of the full nonlinear mathematical model, formulation of dynamic optimization task and its solution by use of DYNOPT toolbox that finds control signal which causes rising of the pendulum into upright position. The control scheme containing this control signal is implemented in PAC (programmable automation controller) WinPAC-8000 with the use of REX Control System. The computed swing-up pulse is used for simulation in Simulink environment. The real measurement of state variables is also presented.
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Submitted on : Wednesday, November 30, 2016 - 11:02:50 AM
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Stepan Ozana, Martin Pies, Radovan Hajovsky. Computation of Swing-up Signal for Inverted Pendulum Using Dynamic Optimization. 13th IFIP International Conference on Computer Information Systems and Industrial Management (CISIM), Nov 2014, Ho Chi Minh City, Vietnam. pp.301-314, ⟨10.1007/978-3-662-45237-0_29⟩. ⟨hal-01405601⟩



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