Title :
Iterative Learning Control experimental results for inverted pendulum crane mode control
Author :
Precup, R.-E. ; Gavriluta, C. ; Radac, M.-B. ; Preitl, S. ; Dragos, C.-A. ; Tar, J.K. ; Petriu, E.M.
Author_Institution :
Dept. of Autom. & Appl. Inf., Politeh. Univ. of Timisoara, Timisoara, Romania
Abstract :
The paper deals with the application of two Iterative Learning Control (ILC) structures to the position control of the inverted pendulum system in crane mode. The two control system structures are based on serial and parallel ILC in combination with the conventional feedback control system structures with PI controllers. Recommendations to set the parameters of the ILC algorithms are given on the basis of experimental results.
Keywords :
PI control; adaptive control; cranes; feedback; iterative methods; learning systems; nonlinear control systems; position control; PI controllers; feedback control system structures; inverted pendulum crane mode control; iterative learning control; position control; Angular velocity control; Automatic control; Control systems; Cranes; Force control; Iterative algorithms; Position control; Proportional control; Voltage control; Weight control;
Conference_Titel :
Intelligent Systems and Informatics, 2009. SISY '09. 7th International Symposium on
Conference_Location :
Subotica
Print_ISBN :
978-1-4244-5348-1
Electronic_ISBN :
978-1-4244-5349-8
DOI :
10.1109/SISY.2009.5291138
