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

fYear

2009

fDate

25-26 Sept. 2009

Firstpage

323

Lastpage

328

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/SISY.2009.5291138

Filename

5291138