Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

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This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control.The plant to be used is an unstable and nonlinear system.This fact, ultrastar dc hc550 curb sniffer truck combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems.

The results show that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system.It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.