On parameter identification of the Furuta pendulum

Octavio García-Alarcon; Sergio Puga-Guzman; Javier Moreno-Valenzuela

doi:10.1016/j.proeng.2012.04.167

On parameter identification of the Furuta pendulum

Octavio García-Alarcon, Sergio Puga-Guzman, Javier Moreno-Valenzuela

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Conference article › peer-review

24 Scopus citations

Abstract

The Furuta pendulum is a well-known underactuated mechanical system used by many control researchers to test new control techniques. In this paper, the parameter identification of a Furuta pendulum prototype designed at IPN-CITEDI is presented. The procedure used to achieve the parameter identification of the experimental system consisted in using the filtered dynamic model and the standard least-squares algorithm. Comparisons between numerical simulation and experiment show a manner of validating the accuracy of the obtained parameter estimation.

Original language	English
Pages (from-to)	77-84
Number of pages	8
Journal	Procedia Engineering
Volume	35
DOIs	https://doi.org/10.1016/j.proeng.2012.04.167
State	Published - 2012
Event	2012 International Meeting of Electrical Engineering Research, ENIINVIE-2012 - Ensenda, BC, Mexico Duration: 28 Mar 2012 → 30 Mar 2012

Keywords

Filtered dynamic model
Furuta pendulum
Least-squares
Parameter identification
Real-time experiment

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10.1016/j.proeng.2012.04.167

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abstract = "The Furuta pendulum is a well-known underactuated mechanical system used by many control researchers to test new control techniques. In this paper, the parameter identification of a Furuta pendulum prototype designed at IPN-CITEDI is presented. The procedure used to achieve the parameter identification of the experimental system consisted in using the filtered dynamic model and the standard least-squares algorithm. Comparisons between numerical simulation and experiment show a manner of validating the accuracy of the obtained parameter estimation.",

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AU - Puga-Guzman, Sergio

AU - Moreno-Valenzuela, Javier

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AB - The Furuta pendulum is a well-known underactuated mechanical system used by many control researchers to test new control techniques. In this paper, the parameter identification of a Furuta pendulum prototype designed at IPN-CITEDI is presented. The procedure used to achieve the parameter identification of the experimental system consisted in using the filtered dynamic model and the standard least-squares algorithm. Comparisons between numerical simulation and experiment show a manner of validating the accuracy of the obtained parameter estimation.

KW - Filtered dynamic model

KW - Furuta pendulum

KW - Least-squares

KW - Parameter identification

KW - Real-time experiment

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T2 - 2012 International Meeting of Electrical Engineering Research, ENIINVIE-2012

Y2 - 28 March 2012 through 30 March 2012

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On parameter identification of the Furuta pendulum

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Keywords

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