The 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.

中文翻译：

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基于张量积的模型转换方法在摆式小车系统中的小车位置建模和控制

本文介绍了基于张量积 (TP) 的模型转换技术在单输入多输出摆车系统 (PCS) 的推车位置建模和控制中的应用。首先进行建模。导出的 TP 模型、PCS 的非线性模型和实验室设备在相同的开环场景下进行测试，并收集、测量和比较它们对应的输出。接下来将并行分布式补偿 (PDC) 技术应用于基于 TP 的小车位置控制器设计。为了进行比较分析，还设计了线性状态反馈控制设计。所提出的两种控制系统结构在实验室设备上的相同场景中进行了实验验证和测试，并对它们的性能指标进行了分析和比较。