Abstract
A model identification procedure is applied to the well known benchmark problem of the pendulum hinged to a cart. There is a dynamical model of the entire system. The PWM control signal and DC motor impact introduced electrically by EMF are included. A concatenation of trajectories collected during several control experiments is used to fit the parameters of the pendulum-cart mathematical model. The identification of model parameters is dedicated to the control goal. Several collected points of trajectories are neglected. The model matching corresponds to intervals.
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