Inverting pendulum is one of common study cases for studying control system. To maintain the pendulum in its inverted position a robust control method is needed. System modeling is used to determine the appropriate control method. Models of the system and the identified parameters in the models are able to simulate the reaction from the control method used. The closer the model to physical real system will result in more robust control method when applied in the real system. Recursive Least-Square (RLS) method is used in parameter identification. Using input-output
data pairs one can identify parameters of system with RLS. RLS method used in this research to identify third order transfer function. The results show the identified model is relatively close to the real system with a mean square error 7.67686. |