Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

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This paper presents a methodology to implement an adaptive control of the terracotta disposable napkins 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 to be used is an unstable and nonlinear system.This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems.

The best 6.7 powerstroke intercooler pipe upgrade 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.