Tensor product-based model transformation approach to cart position modeling and control in pendulum-cart systems

Document Type

Journal Article

Publication Title

Asian Journal of Control

Volume

23

Issue

3

First Page

1238

Last Page

1248

Publisher

Wiley

School

School of Engineering

RAS ID

39731

Funders

Natural Sciences and Engineering Research Council of Canada / Unitatea Executiva pentru Finantarea Invatamantului Superior Cercetarii, Dezvoltarii si Inovarii Ministry of Research and Innovation, Romania

Comments

Hedrea, E. L., Precup, R. E., Petriu, E. M., Bojan-Dragos, C. A., Hedrea, C. (2021). Tensor product-based model transformation approach to cart position modeling and control in pendulum-cart systems. Asian Journal of Control, 23(3), 1238-1248. https://doi.org/10.1002/asjc.2493

Abstract

The paper presents the application of the tensor product (TP)-based model transformation technique to model and control the cart position of single-input multi-output pendulum-cart systems (PCSs). The modeling is first carried out. The derived TP model, the nonlinear model of PCS, and the laboratory equipment are tested in the same open-loop scenario, and their corresponding outputs are collected, measured, and compared. The parallel distributed compensation (PDC) technique is next applied to TP-based cart position controller design. A linear state feedback control design is also designed in order to conduct a comparative analysis. The two proposed control system structures are experimentally validated and tested in the same scenarios on the laboratory equipment, and their performance indices are analyzed and compared.

DOI

10.1002/asjc.2493

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