Giriş Kısıtlı Ters Sarkaç Mekanizmasının Optimal Kontrolü

Date

2021-08-01

Author

SOVUKLUK, Sait
Ankaralı, Mustafa Mert

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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Rapid developments in today's actuator and sensor technologies have pioneered the development of platforms containing very different actuator and sensor combinations. In order to utilize the potentials of the platforms in the best way, it has become a necessity to develop new methods in control systems and new control methods have begun to be gathered under the name of modern control. The optimal control, which is one of the subtitles of modern control, has started to be used widely today with the increase in the processing power of computers. In this study, applications of finite horizon LQR, infinite horizon LQR, finite horizon MPC and dual mode prediction MPC controllers, which are four of the subtitles of optimal control, which have various advantages compared to classical control methods, have been investigated. This investigation was carried out in discrete time space in accordance with the nature of digital computers. An inverted pendulum system model is used to observe the control performances of the four controllers. The inverted pendulum mechanism is an inclusive dynamic model due to its nonlinear, unstable and underactuated nature. After reviewing this study, the reader will have an idea of which of these four control systems should be applied in which situations.

URI

http://dx.doi.org/10.31590/ejosat.898753
https://hdl.handle.net/11511/92727

Journal

European Journal of Science and Technology

DOI

https://doi.org/10.31590/ejosat.898753

Collections

Department of Electrical and Electronics Engineering, Article

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Citation Formats

S. SOVUKLUK and M. M. Ankaralı, “Giriş Kısıtlı Ters Sarkaç Mekanizmasının Optimal Kontrolü,” European Journal of Science and Technology, no. 25, pp. 247–255, 2021, Accessed: 00, 2021. [Online]. Available: http://dx.doi.org/10.31590/ejosat.898753.