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Improved Numerical Simulation for a Novel Adaptive Control Using Fractional Order Derivatives
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Orientador(es)
Resumo(s)
A novel control technique is investigated in the adaptive control of a
typical paradigm, an approximately and partially modeled cart plus double pendulum
system. In contrast to the traditional approaches that try to build up ”complete”
and ”permanent” system models it develops ”temporal” and ”partial” ones that are
valid only in the actual dynamic environment of the system, that is only within some
”spatio-temporal vicinity” of the actual observations. This technique was investigated
for various physical systems via ”preliminary” simulations integrating by the
simplest 1st order finite element approach for the time domain. In 2004 INRIA issued
its SCILAB 3.0 and its improved numerical simulation tool ”Scicos” making it possible
to generate ”professional”, ”convenient”, and accurate simulations. The basic
principles of the adaptive control, the typical tools available in Scicos, and others
developed by the authors, as well as the improved simulation results and conclusions
are presented in the contribution.