Nonlinear identification of inverted pendulum system using Volterra polynomials

ABSTRACT

The inverted pendulum is one of the most significant problems in control theory and has been studied in control literatures. The nonlinear model is useful in the control design. In the present work, Volterra polynomial basis function networks have been used to identify a single inverted pendulum on a moving cart system. Here, the nonlinear model of the inverted pendulum has been implemented. The offline structure selection through orthogonal least square algorithm is used for the nonlinear system identification via the basis function selection of Volterra polynomial networks. The results show good matching between predicted and actual outputs.

KEYWORDS:

• Basis function
• identification
• inverted pendulum
• nonlinear systems
• Volterra polynomials