Exact Model Matching Control and Its Application to Inverted Pendulum System

Kazushi NAKANO; Motomiki UCHIDA; Miyoichi EGUCHI; Kazuo NAKAHARA

doi:10.9746/sicetr1965.31.1239

Transactions of the Society of Instrument and Control Engineers

Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654

Exact Model Matching Control and Its Application to Inverted Pendulum System

Kazushi NAKANO, Motomiki UCHIDA, Miyoichi EGUCHI, Kazuo NAKAHARA

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Keywords: exact model matching, matching condition, nonlinear mechanical systems, inverted pendulum, dynamic network

JOURNAL FREE ACCESS

1995 Volume 31 Issue 8 Pages 1239-1241

DOI https://doi.org/10.9746/sicetr1965.31.1239

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Abstract

Extensions of the results of the model reference adaptive control to nonlinear systems have rarely been achieved. For this purpose, an alternative method of exact model matching (EMM), based on a kind of simulator called “dynamic network” which assigns any damping characteristics, is presented for a class of nonlinear mechanical systems. This approach is extended to the case of inverted pendulum system with no matching conditions.

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