Show simple item record

dc.contributor.advisorGalvis Restrepo, Eduard
dc.creatorBáez Pedraza, María Camila
dc.date.accessioned2019-02-08T16:40:10Z
dc.date.available2019-02-08T16:40:10Z
dc.date.created2019-01-21
dc.identifier.citationBáez Pedraza María Camila. (2019). Control predictivo multivariado para el sistema de péndulo invertidospa
dc.identifier.urihttp://hdl.handle.net/11634/15462
dc.descriptionEste proyecto está relacionado con el diseño de un controlador predictivo aplicado a un péndulo invertido. El prototipo experimental del péndulo ha sido fabricado por la empresa Quanser. En este trabajo, se muestra el modelo lineal de la planta representada en el espacio de estados, la programación del algoritmo para el controlador teniendo en cuenta el modelo y además la utilidad de aplicar restricciones al controlador. También se presentan resultados experimentales del control de posición angular del péndulo, considerando diferentes escenarios donde se modifican los parámetros de sintonización del controlador.spa
dc.description.abstractThis project is related to the design of a predictive controller applied to an inverted pendulum. The experimental prototype of the pendulum has been manufactured by the company Quanser. In this work, the linear model of the plant represented in the state space is shown, the algorithm programming for the controller taking into account the model and also the utility of applying restrictions to the controller. Experimental results of the angular position control of the pendulum are also presented, considering different scenarios where the tuning parameters of the controller are modified.spa
dc.format.mimetypeapplication/pdfspa
dc.language.isospaspa
dc.publisherUniversidad Santo Tomásspa
dc.rightsAtribución-NoComercial-SinDerivadas 2.5 Colombia*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/*
dc.sourceinstname:Universidad Santo Tomásspa
dc.sourcereponame:Repositorio Institucional Universidad Santo Tomásspa
dc.subjectPéndulo invertidospa
dc.subjectControl predictivo multivariadospa
dc.subjectsistema SIMOspa
dc.subjectrestriccionesspa
dc.subjectestabilidadspa
dc.titleControl predictivo multivariado para el sistema de péndulo invertidospa
dc.typeFormación de Recurso Humano para la Ctel: Trabajo de grado de pregradospa
dc.creator.degreeIngeniero Electronicospa
dc.publisher.programPregrado Ingeniería Electrónicaspa
dc.publisher.departmentFacultad de Ingeniería Electrónicaspa
dc.subject.keywordInverted pendulumspa
dc.subject.keywordModel predictive controlspa
dc.subject.keywordconstraintsspa
dc.subject.keywordSIMO systemspa
dc.subject.keywordstabilityspa
dc.subject.lembPendulospa
dc.subject.lembAnálisis multivariantespa
dc.subject.lembRestricciones-Físicaspa
dc.type.spaTrabajo de gradospa
dc.rights.accesoAbierto (Texto Completo)spa
dc.type.hasVersioninfo:eu-repo/semantics/acceptedVersionspa
dc.description.sedeCRAI-USTA Bogotáspa
dc.identifier.topographicT.I.E. B57co 2019spa
dc.description.GoogleScholarhttps://scholar.google.es/citations?user=NCvZN7AAAAAJ&hl=enspa
dc.description.cvlachttp://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000166812spa
dc.description.dominiohttp://unidadinvestigacion.usta.edu.cospa
dc.source.bibliographicCitation“Modelo de control predictivo.” [Online]. Available: https://es.slideshare.net/sergioluissanchezbarrios/modelo-de-control-predictivo. [Accessed: 29-Oct-2018].spa
dc.source.bibliographicCitationE. Camacho and C. Bordons, “Control predictivo: Pasado, presente y futuro,” Riaii, vol. 1, no. 3, pp. 5–28, 2010.spa
dc.source.bibliographicCitationAlejandro Muños Cueva, “Control Predictivo. Una técnica de control que mira al futuro | Fundación Ayesa,” Mar 6, 2017. [Online]. Available: https://www.fundacionayesa.org/control-predictivo-una-tecnica-de-control-que-mira-al-futuro/. [Accessed: 29-Oct-2018].spa
dc.source.bibliographicCitationJ. M. Vargas Lara, “Control predictivo multivariable: evolución histórica y conceptos.”spa
dc.source.bibliographicCitationD. Saez and A. Cipriano, “Design of Fuzzy Model based Predictive Controllers and its Application to an Inverted Pendulum,” Proc. 6th Int. Fuzzy Syst. Conf., pp. 915–919, 1997.spa
dc.source.bibliographicCitationL. Magni, R. Scattolini, and K. J. Åström, “GLOBAL STABILIZATION OF THE INVERTED PENDULUM USING MODEL PREDICTIVE CONTROL,” IFAC Proc. Vol., vol. 35, no. 1, pp. 141–146, Jan. 2002.spa
dc.source.bibliographicCitationC.-N. Lu, C.-C. Tsai, M.-C. Tsai, K. V. Ling, and W.-S. Yao, “Application of Model Predictive Control to Parallel-Type Double Inverted Pendulum Driven by a Linear Motor,” in IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007, pp. 2904–2909.spa
dc.source.bibliographicCitationM. Askari, H. A. F. Mohamed, M. Moghavvemi, and S. S. Yang, “Model predictive control of an inverted pendulum,” in 2009 International Conference for Technical Postgraduates (TECHPOS), 2009, pp. 1–4.spa
dc.source.bibliographicCitationQ. Qian, D. Dongmei, L. Feng, and T. Yongchuan, “Stabilization of the double inverted pendulum based on discrete-time model predictive control,” in 2011 IEEE International Conference on Automation and Logistics (ICAL), 2011, pp. 243–247.spa
dc.source.bibliographicCitationM. Ghanavati, V. J. Majd, and M. Ghanavati, “Control of Inverted Pendulum system by using a new robust model predictive control strategy,” 2011 Int. Sib. Conf. Control Commun. SIBCON 2011 - Proc., vol. 201, pp. 27–32, 2011.spa
dc.source.bibliographicCitationC. Ekaputri and A. Syaichu-Rohman, “Implementation model predictive control (MPC) algorithm-3 for inverted pendulum,” Proc. - 2012 IEEE Control Syst. Grad. Res. Colloquium, ICSGRC 2012, no. Icsgrc, pp. 116–122, 2012.spa
dc.source.bibliographicCitationP. Bakarac, M. Klauco, and M. Fikar, “Comparison of inverted pendulum stabilization with PID, LQ, and MPC control,” in 2018 Cybernetics & Informatics (K&I), 2018, pp. 1–6.spa
dc.source.bibliographicCitationJ. Aracil and F. Gordillo, “El Péndulo Invertido: Un Desafío Para El Control No Lineal,” Rev. Iberoam. Automática e Informática Ind., vol. 2, no. figura 2, p. 12, 2005.spa
dc.source.bibliographicCitation“Rotary Inverted Pendulum - User Manual | Electronic Waste | Amplifier.” [Online]. Available: https://es.scribd.com/document/250111287/Rotary-Inverted-Pendulum-User-Manual. [Accessed: 29-Oct-2018].spa
dc.source.bibliographicCitationL. Wang, Model predictive control system design and implementation using MATLAB®. Springer, 2009.spa
dc.source.bibliographicCitationQuanser Inc., “Workbook: Rotary Pendulum, Instructor Version,” p. 60, 2011.spa
dc.source.bibliographicCitationD. Dissertation and E. G. Restrepo, “Universitat politècnica de catalunya,” 2015.spa


Files in this item

Thumbnail
Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record

Atribución-NoComercial-SinDerivadas 2.5 Colombia
Except where otherwise noted, this item's license is described as Atribución-NoComercial-SinDerivadas 2.5 Colombia