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System identification of rotary double inverted pendulum using artificial neural networks

Chandran, Deepak and Krishna, Bipin and George, V I and Thirunavukkarasu, I (2015) System identification of rotary double inverted pendulum using artificial neural networks. In: International Conference on Industrial Instrumentation and Control (ICIC), May 28-30,2015, College of Engineering Pune.

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Abstract

System Identification has been widely used in obtaining the mathematical model of nonlinear systems.Nonlinear system identification is challenging because of its complexity and unpredictability. The nonlinear system considered inthis paper is Rotary Double Inverted Pendulum which is unstable and non-minimum phase system. Inverted pendulum is a well-known benchmark system in control system laboratories which is inherently unstable. In this work full dynamics of the system is derived using classical mechanics and Lagrangian formulation. Artificial neural network is used to identify the model.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Rotary Double Inverted Pendulum (RDIP), Identification, Feedforward Neural Networks.
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 15 Jul 2015 10:11
Last Modified: 15 Jul 2015 10:11
URI: http://eprints.manipal.edu/id/eprint/143384

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