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The Application of RBF-ARX Model-based Predictive Control on Inverted Pendulum System

Author: WuJiaoJiao
Tutor: PengHui
School: Central South University
Course: Control Science and Engineering
Keywords: Inverted pendulum System Modeling RBF-ARX model Predictive Control
Type: Master's thesis
Year: 2011
Downloads: 35
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Inverted pendulum system is a typical multi- variable , non-linear , strong coupling system of natural instability . In recent years has been the control of the hot research field . Inverted pendulum system to study not only has a very important theoretical significance , and walk upright biped robot research also has practical significance for guiding attitude adjustment of the rocket during launch and helicopter flight control areas . This paper studies an inverted pendulum system based on RBF-ARX model predictive control problem . First, based on the the inverted pendulum physical model , a brief analysis of the characteristics of the inverted pendulum system . Nonlinear characteristics of the inverted pendulum system , compare the pros and cons of inverted pendulum system existing modeling methods and control strategies , select the application in inverted pendulum control system based on RBF-ARX model predictive control strategy . Then introduced the RBF-ARX model structure , principles and model parameter identification , optimization and specific options gives a detailed analysis shows . The collected data is able to describe the steady swing of the dynamic characteristics of the inverted pendulum in Matlab Simulink environment using SNPOM optimization method to identify the parameters of the model , RBF-ARX model successfully established a pendulum . Then inverted pendulum under the same order of RBF-ARX model ARX model comparison confirmed RBR-ARX model error is smaller , has higher modeling accuracy . Finally, according to the basic principles of predictive control , design inverted pendulum RBF-ARX model - based predictive control strategy , and its concrete realization , parameter selection and system design issues made ??a detailed introduction and description . Simulink environment at the same time , the simulation experiment . Simulation studies based on real-time control of inverted pendulum system , and compared with PID control effect better control of RBF-ARX model - based predictive control proved based on RBF-ARX model predictive control swing control of the validity of the inverted pendulum stability . This provides an effective solution for the complex non-linear system control problem .

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