Rediseño paramétrico del pendubot para posicionamiento vertical en tiempo mínimo

Carlos A. Cruz-Villar; Jaime Alvarez-Gallegos; Miguel G. Villarreal-Cervantes

doi:10.1016/S1697-7912(08)70128-6

Rediseño paramétrico del pendubot para posicionamiento vertical en tiempo mínimo

Translated title of the contribution: Parametric redesign of the pendubot for vertical positioning in minimum time

Carlos A. Cruz-Villar, Jaime Alvarez-Gallegos, Miguel G. Villarreal-Cervantes

Research output: Contribution to journal › Article › peer-review

Abstract

A parametric redesign methodology of nonlinear systems for minimum-time control without constraints on the state trajectory and bounded control is proposed. This methodology states the optimum redesign problem as a dynamic optimization one. This methodology simultaneously finds both the structural parameters of the system and the switching intervals of the control signal which minimize the required time to take the system from an initial state to a final one. Experimental results applying the minimum-time control methodology and the parametric redesign methodology to the Pendubot are shown.

Translated title of the contribution	Parametric redesign of the pendubot for vertical positioning in minimum time
Original language	Spanish
Pages (from-to)	104-114
Number of pages	11
Journal	RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Volume	5
Issue number	1
DOIs	https://doi.org/10.1016/S1697-7912(08)70128-6
State	Published - Jan 2008
Externally published	Yes

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10.1016/S1697-7912(08)70128-6

Cite this

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abstract = "A parametric redesign methodology of nonlinear systems for minimum-time control without constraints on the state trajectory and bounded control is proposed. This methodology states the optimum redesign problem as a dynamic optimization one. This methodology simultaneously finds both the structural parameters of the system and the switching intervals of the control signal which minimize the required time to take the system from an initial state to a final one. Experimental results applying the minimum-time control methodology and the parametric redesign methodology to the Pendubot are shown.",

keywords = "Dynamic optimization, Integrated design, Minimum time, Parametric redesign, Pendubot",

author = "Cruz-Villar, {Carlos A.} and Jaime Alvarez-Gallegos and Villarreal-Cervantes, {Miguel G.}",

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AU - Cruz-Villar, Carlos A.

AU - Alvarez-Gallegos, Jaime

AU - Villarreal-Cervantes, Miguel G.

PY - 2008/1

Y1 - 2008/1

N2 - A parametric redesign methodology of nonlinear systems for minimum-time control without constraints on the state trajectory and bounded control is proposed. This methodology states the optimum redesign problem as a dynamic optimization one. This methodology simultaneously finds both the structural parameters of the system and the switching intervals of the control signal which minimize the required time to take the system from an initial state to a final one. Experimental results applying the minimum-time control methodology and the parametric redesign methodology to the Pendubot are shown.

AB - A parametric redesign methodology of nonlinear systems for minimum-time control without constraints on the state trajectory and bounded control is proposed. This methodology states the optimum redesign problem as a dynamic optimization one. This methodology simultaneously finds both the structural parameters of the system and the switching intervals of the control signal which minimize the required time to take the system from an initial state to a final one. Experimental results applying the minimum-time control methodology and the parametric redesign methodology to the Pendubot are shown.

KW - Dynamic optimization

KW - Integrated design

KW - Minimum time

KW - Parametric redesign

KW - Pendubot

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DO - 10.1016/S1697-7912(08)70128-6

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JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial

IS - 1

ER -

Rediseño paramétrico del pendubot para posicionamiento vertical en tiempo mínimo

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