En nuestra última edición

Low-cost meteorological platform based on zigbee technology

Computer- assisted analysis for e-portfolio learning strategy

Smart home control by voice using neural networks

Application software as global marketing strategy

Methodology used in the design and construction of a computer numerical control machine

Exergy analysis for a furnace in the production of panela

Reflection on the requirements specification in a university context

Digital social networks: an approach to risk management information systems

Analysis of the current system of a clay block dryer and an improvement proposal

Algorithms and systems based on patterns of stem cell and artificial cloning for automation and control in an assembly operation in metalworking processes

Development of a software to apply zoometria in bovine cattle

Design and simulation of a prototype of machine for signaling of ways, automated through a mechanical system

Modelation of modal election for urban public transport based on the introduction of a new mode

Evaluation of resistance to flexion in glazed ceramic tile in terms of ice and thaw cycles

A look at the onto- epistemic fundamentals of the career of system engineering as a basis for rethinking the social impact in times of changing

Structural analysis of a pressing machine for production of solid brick for small craft industries of ceramic materials in Ocaña, Norte de Santander, and in the region

Identification of vegetable coverages from satellite images over the middle and lower basin of the Catatumbo river

Aplication of lattice boltzmann equation method to the bidimensional simulation of typical fluids mechanic problem

The historical references of professional. development case study of teachers teaching in the basic primary education in Colombia

Critical thinking of students using facebook like new technology learning

Resumen

 

CONTROLLER DESIGN FOR AN INVERTED PENDULUM USING NONLINEAR MODEL

DISEÑO DE CONTROLADOR PARA UN PÉNDULO INVERTIDO MEDIANTE MODELO NO LINEAL
Ing. Jairo Mauricio Camargo.
Ing. Fredy Alexander Ascencio Camacho.
Ing. Álvaro Fernández Acevedo.

Abstract: This paper describes the process of designing a controller using the nonlinear model for a pendulum that is mounted on a car that has linear displacement. The controller function is to keep the pendulum at the unstable equilibrium point. To determine the control matrix is performed linearization around equilibrium points. We show that the system is observable but not controllable so the process is carried out simulation using Matlab/Simulink.

Keywords: Control, state variable, nonlinear model, pendulum, observability, stability.

Resumen: Este artículo se describe el procedimiento de diseño de un controlador utilizando el modelo no lineal para un péndulo que se encuentra montado sobre un carro que tiene desplazamiento lineal. La función del controlador es mantener el péndulo en el punto de equilibrio no estable. Para determinar la matriz de control se realiza la linealización del sistema alrededor de los puntos de equilibrio. Se demuestra que el sistema aunque no es observable si es controlable y se realiza su proceso de simulación utilizando el Simulink de Matlab.

Palabras clave: Control, variables de estado, modelo no lineal, péndulo, observabilidad, estabilidad.