A time-varying inertia pendulum: Analytical modelling and experimental identification

Modelling, identification and simulation of the inverted pendulum PS600

This paper deals with modelling, identification and simulation of the inverted pendulum PS600. This system is unstable and nonlinear with one input – voltage of a DC motor which can change position of the cart and two outputs – cart position and angle of the pendulum rod. First, a mathematical model of the inverted pendulum is derived, followed by identification of its unknown parameters. Then,...

Nonlinear Control of the Inertia Wheel Pendulum

Identification of Time Varying Systems

The article outlines the development of time variable parameter (TVP) estimation as an approach to modeling nonstationary dynamic systems. It then describes one of the latest methods for estimating time variable parameters in dynamic auto-regressive, exogenous variables (DARX) and dynamic transfer function (DTF) models. In the case of DARX models, the estimation methodology is based on standard...

Parametric Identification of Chaotic Base-excited Double Pendulum Experimental Study

The improved parametric identification of chaotic systems was investigated for the double pendulum system. From recorded experimental response data, the unstable periodic orbits were extracted and later used in a harmonic balance identification process. By applying digital filtering, digital differentiation and linear regression techniques for optimization, the results were improved. Verificati...

Wavelet based time-varying vector autoregressive modelling

Vector autoregressive (VAR) modelling is one of the most popular approaches in multivariate time series analysis. The parameters interpretation is simple, and provide an intuitive identification of relationships and Granger causality among time series. However, the VAR modelling requires stationarity conditions which could not be valid in many practical applications. Locally stationary or time ...