Examinando por Autor "Betancourt Manjarres, Ruben Dario,"
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- ÍtemDiseño e implementación de un controlador por modos deslizantes para el péndulo invertido.(Fundación Universitaria Los Libertadores. Sede Bogotá., ) Betancourt Manjarres, Ruben Dario,; Morales Rodriguez, Stefania;; Niño Sierra, Luis FranciscoThe project theme is framed in the area of digital control, and through its development it is intended to verify how established in terms of transient response and control action resulting the implementation of a control algorithm by sliding modes [1], on the plant of inverted rotational pendulum of the Los Libertadores University Institution. You can make a comparison of the algorithm that you want to implement with the control proposed by the Quanser company (Linear Quadratic Regulator or LQR), verifying the performance of the parameters of interest. To achieve this objective it is necessary to determine the mathematical model of the system by means of the analysis known as the Lagrange method, then an LQR control evaluation will be carried out, based on the study of the variables of interest (transient response, response time and on impulse) . A control is performed between the sliding mode control technique and the Quanser LQR controller comparing the controlled results and the analysis of the control action behavior of each technique.