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Control of Linear Inverted Pendulum Exhibition Model
Vávra, Patrik ; Sova, Václav (referee) ; Brablc, Martin (advisor)
The main aim of this bachelor thesis is to create robust linear inverted pendulum control. After system identification comes the creation of regulators from which the most suitable is chosen for the final control of the pendulum. Another point of thesis is to develop a swing-up controller that takes care of swinging the pendulum into an unstable position and swing-down controller to stabilize the pendulum as quickly as possible in a stable pendulum position. The following sections of the thesis include the design of the control structure, safety measures and evaluation of the performed testing.
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Ladění parametrů LQG řízení pomocí evolučních metod
Marton, Filip ; Brablc, Martin (referee) ; Grepl, Robert (advisor)
This master thesis deals with the design of evolutionary algorithms to optimize LQG control of two laboratory models. It also deals with the creation of simplified models used to describe real models and with the subsequent estimation of their parameters. After this section it deals with optimization of control parameters with the use of simplified models, testing the control on laboratory models and summarizing the results of controlling the models.
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Control of Linear Inverted Pendulum Exhibition Model
Vávra, Patrik ; Sova, Václav (referee) ; Brablc, Martin (advisor)
The main aim of this bachelor thesis is to create robust linear inverted pendulum control. After system identification comes the creation of regulators from which the most suitable is chosen for the final control of the pendulum. Another point of thesis is to develop a swing-up controller that takes care of swinging the pendulum into an unstable position and swing-down controller to stabilize the pendulum as quickly as possible in a stable pendulum position. The following sections of the thesis include the design of the control structure, safety measures and evaluation of the performed testing.
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