{"title":"Novel Method of Friction Identification with Application for Inverted Pendulum Control System","authors":"M. Balcerzak","doi":"10.2478/mme-2018-0095","DOIUrl":null,"url":null,"abstract":"Abstract This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb’s model discontinuity are omitted.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanics and Mechanical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2478/mme-2018-0095","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 1
Abstract
Abstract This text covers a novel method of friction identification for control systems. The friction function in the inverted pendulum model is described by means of a cubic polynomial. The method has been tested using the data recorded on a real inverted pendulum. It has been proven that the proposed cubic model offers the same level of accuracy as the Coulomb model. However, all the difficulties caused by Coulomb’s model discontinuity are omitted.