Online algebraic parameter identification and self-tuned control for the inertia wheel pendulum

Abstract:

In this article, we propose the simultaneous identification and control of the inertia wheel pendulum. The on-line parameter identification process is carried out using the algebraic identification technique with an alternative invariant filtering scheme, based on a least squares error criterion to deal with noisy measurements. The methodology permits fast parameter estimations to be taken in the control law. The feasibility of this scheme is shown through laboratory experimental results.

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