Modelado, simulación e implementación de controladores LQR y RLVE al sistema péndulo invertido rotacional usando la plataforma NI ELVIS II

This article presents an analysis of control state variables, applied to nonlinear system rotational inverted pendulum (ROTPEN), implemented on the NI ELVIS platform, in order to compare the results of the controllers Linear Quadratic Regulator (LQR) and linear feedback of state variables (RLVE), to ensure better performance of system stability. The mathematical representation of the nonlinear model linearized ROTPEN plant is examined by designing algorithms and Simulink-Matlab simulations. The behavior of the real and simulated system is, thus, contrasted in front of perturbations and input changes, having as a priority to exert a low control action as parameter for the system to be optimized.

• Autores: Romero Acero, Álvaro; Marín Cano, Alejandro; Jiménez Builes, Jovani Alberto
• Fecha de publicación: 2013
• Institución: Universidad de San Buenaventura
• Repositorio: Repositorio USB
• Idioma: spa
• OAI Identifier: oai:bibliotecadigital.usb.edu.co:10819/4907
• Acceso en línea: http://hdl.handle.net/10819/4907
• Palabra clave: Linealización; Estabilidad; Observador de estado; Controladores RLVE; LQR; Linearization; Stability analysis; State observer; RLVE; LQR controllers; Optimización matemática; Estabilidad de estructuras
• License: Atribución-NoComercial-SinDerivadas 2.5 Colombia