Tensor product‐based model transformation approach to cart position modeling and control in pendulum‐cart systems

Abstract

AbstractThe paper presents the application of the tensor product (TP)‐based model transformation technique to model and control the cart position of single‐input multi‐output pendulum‐cart systems (PCSs). The modeling is first carried out. The derived TP model, the nonlinear model of PCS, and the laboratory equipment are tested in the same open‐loop scenario, and their corresponding outputs are collected, measured, and compared. The parallel distributed compensation (PDC) technique is next applied to TP‐based cart position controller design. A linear state feedback control design is also designed in order to conduct a comparative analysis. The two proposed control system structures are experimentally validated and tested in the same scenarios on the laboratory equipment, and their performance indices are analyzed and compared.