TY - GEN
T1 - Model identification of rotary inverted pendulum using artificial neural networks
AU - Chandran, Deepak
AU - Krishna, Bipin
AU - George, V. I.
AU - Thirunavukkarasu, I.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/28
Y1 - 2015/9/28
N2 - System Identification has been widely used in obtaining the mathematical model of nonlinear systems. Nonlinear system identification is challenging because of its complexity and unpredictability. The nonlinear system considered in this paper is Rotary Inverted Pendulum which is unstable and non-minimum phase system. Inverted pendulum is a well-known benchmark system in control system laboratories which is inherently unstable. In this work full dynamics of the system is derived using classical mechanics and Lagrangian formulation. Artificial neural network is used to identify the model.
AB - System Identification has been widely used in obtaining the mathematical model of nonlinear systems. Nonlinear system identification is challenging because of its complexity and unpredictability. The nonlinear system considered in this paper is Rotary Inverted Pendulum which is unstable and non-minimum phase system. Inverted pendulum is a well-known benchmark system in control system laboratories which is inherently unstable. In this work full dynamics of the system is derived using classical mechanics and Lagrangian formulation. Artificial neural network is used to identify the model.
UR - http://www.scopus.com/inward/record.url?scp=84962138809&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84962138809&partnerID=8YFLogxK
U2 - 10.1109/RDCAPE.2015.7281385
DO - 10.1109/RDCAPE.2015.7281385
M3 - Conference contribution
AN - SCOPUS:84962138809
T3 - 2015 International Conference on Recent Developments in Control, Automation and Power Engineering, RDCAPE 2015
SP - 146
EP - 150
BT - 2015 International Conference on Recent Developments in Control, Automation and Power Engineering, RDCAPE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Conference on Recent Developments in Control, Automation and Power Engineering, RDCAPE 2015
Y2 - 12 March 2015 through 13 March 2015
ER -