On parameter identification of the Furuta pendulum

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

Research output: Contribution to conferencePaper

17 Scopus citations


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. © 2012 Published by Elsevier Ltd.
Original languageAmerican English
Number of pages68
StatePublished - 1 Jan 2012
EventProcedia Engineering -
Duration: 1 Jan 2014 → …


ConferenceProcedia Engineering
Period1/01/14 → …


Cite this

García-Alarcon, O., Puga-Guzman, S., & Moreno-Valenzuela, J. (2012). On parameter identification of the Furuta pendulum. 77-84. Paper presented at Procedia Engineering, . https://doi.org/10.1016/j.proeng.2012.04.167