NDLI: Modelling and simulation of the inverted pendulum based on granular hybrid system

Content Provider	IEEE Xplore Digital Library
Author	Jun Xie Xinying Xu Keming Xie
Copyright Year	2008
Description	Author affiliation: Coll. of Inf. Eng., Taiyuan Univ. of Technol., Taiyuan (Jun Xie; Xinying Xu; Keming Xie)
Abstract	The inverted pendulum is a multi-variable, nonlinear, inherently unstable and non-minimum phase system. There are two main problems considered in controlling the inverted pendulum: one is how to swing up fast; the other is to stabilize the inverted pendulum at the operating position. From the viewpoint of granular computing theory, the inverted pendulum can be regard as a hybrid system of different granularity worlds, which exploits controllers switching between the discrete events in order to swing up the pendulum from the initial position and to stabilize at the target position. A granular hybrid automaton was proposed in the paper and the granular hybrid system, as a controller of inverted pendulum, was simulated in Matlab and the results show that the inverted pendulum can be swung up rapidly and then be stabilized in the balance area.
Starting Page	3795
Ending Page	3799
File Size	245849
Page Count	5
File Format	PDF
ISBN	9781424417339
DOI	10.1109/CCDC.2008.4598041
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-02
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Granular Hybrid System Granular Hybrid Automaton Granularity World Inverted Pendulum
Content Type	Text
Resource Type	Article

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