Untitled Document


> Archives > Current Issues 

JEET, Vol. 13, No. 5, September 2018 
Optimal Controller Design of One Link Inverted Pendulum Using Dynamic Programming and Discrete Cosine Transform
Bumjoo Lee 
Area 
D  Information and Control 
Abstract 
Global state space¡¯s optimal policy is used for offline controller in the form of table by
using Dynamic Programming. If an optimal policy table has a large amount of control data, it is
difficult to use the system in a low capacity system. To resolve these problem, controller using the
compressed optimal policy table is proposed in this paper. A DCT is used for compression method and
the cosine function is used as a basis. The size of cosine function decreased as the frequency increased.
In other words, an essential information which is used for restoration is concentrated in the low
frequency band and a value of small size that belong to a high frequency band could be discarded by
quantization because high frequency¡¯s information doesn¡¯t have a big effect on restoration. Therefore,
memory could be largely reduced by removing the information. The compressed output is stored in
memory of embedded system in offline and optimal control input which correspond to state of plant is
computed by interpolation with Inverse DCT in online. To verify the performance of the proposed
controller, computer simulation was accomplished with a one link inverted pendulum. 
Keyword 
Optimal policy,Dynamic programming,Compress,Discrete Cosine Transform (DCT),Inverse Discrete Cosine Transform (IDCT).

PDF 

