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master's thesis
Optimal control of double inverted pendulum
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:483974
Bašić, Mate
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Bašić, M. (2024). Optimal control of double inverted pendulum (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:483974

Bašić, Mate. "Optimal control of double inverted pendulum." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:483974

Bašić, Mate. "Optimal control of double inverted pendulum." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:483974

Bašić, M. (2024). 'Optimal control of double inverted pendulum', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:235:483974

Bašić M. Optimal control of double inverted pendulum [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:235:483974

M. Bašić, "Optimal control of double inverted pendulum", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:483974

Metadata
TitleOptimal control of double inverted pendulum
Title (croatian)Optimalno upravljanje dvostrukim inverznim njihalom
AuthorMate Bašić
MentorAndrej Jokić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-05-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Precision Mechanical Engineering
Abstract
In this thesis a model based control of an inverted pendulum on a cart is considered. The system’s dynamics is nonlinear, and for control synthesis purposes the nonlinear model is linearized around the upward position. The linearized model is then used for synthesis of linear quadratic regulator (LQR) and model predictive controller (MPC). In the MPC setting, terminal cost and terminal constraints have been incorporated and their impact on the closed-loop behavior has been analyzed. It is also shown that MPC can be used for double pendulum position reference tracking. Finally, two state estimation techiques are compared and analysed, the extended Kalman filter (EKF) and the unscented Kalman filter (UKF).
Keywords
Languageenglish
URN:NBNurn:nbn:hr:235:483974
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-05-09 06:23:21