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

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 ri...

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Bibliographic Details
Published inComputer Information Systems and Industrial Management pp. 301 - 314
Main Authors Ozana, Stepan, Pies, Martin, Hajovsky, Radovan
Format Book Chapter
LanguageEnglish
Published Berlin, Heidelberg Springer Berlin Heidelberg 2014
SeriesLecture Notes in Computer Science
Subjects
Control design
Educational products
MATLAB
Regulators
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Summary: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.
ISBN:3662452367
9783662452363
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-662-45237-0_29