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http://dx.doi.org/10.5762/KAIS.2014.15.2.1066

Adaptive Optimal Control of a Rotary Inverted Pendulum Using Lagrange Interpolation and a Pole's Moving-Range  

Park, Minho (Electrical & Electronics Engineering, Chungnam Provincial Chengyang College)
Han, Sang-Wan (Electrical & Electronics Engineering, Chungnam Provincial Chengyang College)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.15, no.2, 2014 , pp. 1066-1073 More about this Journal
Abstract
This paper presents a new design method of optimal control of system which are changed the system parameters. The method used for this purpose are the Lagrange interpolation method and Pole's Moving range method. We selects a system within the scope of the changing the system parameters. Using pole's moving range we calculated the state weighting matrix of optimal control. The optimal controller is designed by Lagrange interpolation method of the state weighting matrix. We are compared with a traditional optimal controller and proposed method by simulation. The simulation showed that the proposed method is better control performance than traditional method of optimal controller.
Keywords
Adaptive; Interpolation; Inverted pendulum; Optimal Control; Pole's Moving Range;
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Times Cited By KSCI : 4  (Citation Analysis)
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