Title :
Application of an iterative learning-sliding mode controller to inverse pendulum system
Author :
Yu, Shao-Juan ; Qi, Xiang-Dong ; Han, Ru-Cheng ; Pan, Feng ; Zhi, Zhe-Ying
Author_Institution :
Dept. of Electron & Inf. Eng., Taiyuan Heavy Machinery Inst., China
Abstract :
The approach of combing the iterative learning control algorithm with the variable structure control is presented. The reasonable controller is designed and applied to inverse pendulum system. Not only the high accuracy but also the good robustness is obtained. The simulation results show that the effectiveness of the method to the system.
Keywords :
adaptive control; iterative methods; learning systems; nonlinear systems; pendulums; variable structure systems; inverse pendulum system; iterative learning-sliding mode controller; variable structure control; Control systems; Convergence; Electric variables control; Electrons; Iterative methods; Lighting control; Motion control; Robust control; Robustness; Sliding mode control;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1382292
