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Modeling, simulation and control of a twin-inverted pendulum on a moving cart

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dc.contributor.author Tamimi, Jasem
dc.date.accessioned 2021-06-06T11:10:57Z
dc.date.accessioned 2022-05-22T08:55:33Z
dc.date.available 2021-06-06T11:10:57Z
dc.date.available 2022-05-22T08:55:33Z
dc.date.issued 2021-03
dc.identifier.citation Tamimi, Jasem. "Modeling, simulation and control of a twin-inverted pendulum on a moving cart." International Journal of Modeling, Simulation, and Scientific Computing (2021): 2150027. en_US
dc.identifier.other https://www.worldscientific.com/doi/abs/10.1142/S1793962321500276
dc.identifier.uri http://localhost:8080/xmlui/handle/123456789/8363
dc.description.abstract In this paper, a mathematical model of a twin-inverted pendulum on a moving cart has been derived. This is done using the Lagrange–Euler method and, hence, a highly nonlinear mathematical model is resulted from this derivation. These nonlinear and unstable dynamics are written in a simple matrix form. For this challenging system, we use two types of efficient control approaches to treat the control problem of the twin inverted pendulum, namely, linear quadratic regulator (LQR) and nonlinear model predictive control (NMPC). Simulations with several scenarios are also presented to demonstrate the control performances and the model validity. en_US
dc.language.iso en_US en_US
dc.publisher World Scientific Publishing Company en_US
dc.subject Twin-inverted pendulum linear quadratic regulator nonlinear model predictive control en_US
dc.title Modeling, simulation and control of a twin-inverted pendulum on a moving cart en_US
dc.type Article en_US


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