%0 Journal Article
%T Parameter Identification and Adaptive Control Applied to the Inverted Pendulum
%A Carlos A. Saldarriaga-Cort¨¦s
%A V¨ªctor D. Correa-Ram¨ªrez
%A Didier Giraldo-Buitrago
%J Tecno L¨®gicas
%D 2012
%I Instituto Tecnologico Metropolitano
%X This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control. The plant to be used is an unstable and nonlinear system. This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems. The results show that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system. It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.
%K Adaptive control
%K parametric identification
%K mathematical model
%K controllability
%K stability
%K pole placement control.
%U http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/205/205