TY - JOUR
T1 - On parameter identification of the Furuta pendulum
AU - García-Alarcon, Octavio
AU - Puga-Guzman, Sergio
AU - Moreno-Valenzuela, Javier
PY - 2012
Y1 - 2012
N2 - 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.
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
UR - http://www.scopus.com/inward/record.url?scp=84892572261&partnerID=8YFLogxK
U2 - 10.1016/j.proeng.2012.04.167
DO - 10.1016/j.proeng.2012.04.167
M3 - Artículo de la conferencia
AN - SCOPUS:84892572261
SN - 1877-7058
VL - 35
SP - 77
EP - 84
JO - Procedia Engineering
JF - Procedia Engineering
T2 - 2012 International Meeting of Electrical Engineering Research, ENIINVIE-2012
Y2 - 28 March 2012 through 30 March 2012
ER -