Time optimal control for the pendulum-cart system in real-time

Author

Turnau, A. ; Korytowski, A. ; Szymkat, M.

Author_Institution

Dept. of Autom., St. Staszic Tech. Univ. AGH, Krakow, Poland

Volume

2

fYear

1999

fDate

1999

Firstpage

1249

Abstract

An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out

Keywords

computerised control; control system synthesis; laboratory techniques; nonlinear control systems; pendulums; real-time systems; time optimal control; control algorithm synthesis; hardware-in-the-loop simulation; laboratory cart-pole system; pendulum-cart system; rapid prototyping; real-time simulation; rule-based algorithm; simulated time-optimal control; Angular velocity; Automatic control; Control systems; Feedback; Force control; Friction; Laboratories; Optimal control; Rails; Real time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on

Conference_Location

Kohala Coast, HI

Print_ISBN

0-7803-5446-X

Type

conf

DOI

10.1109/CCA.1999.801151

Filename

801151