Explicit Model Predictive Control for a Cart Inverted Pendulum System

2018 ◽  
Author(s):  
Mahmoud Elnaggar ◽  
Ahmed Lasheen
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Inverted Pendulum ◽  
Explicit Model ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Explicit Model Predictive Control

Explicit Model Predictive Control for Inverted Pendulum Systems

2020 ◽  
Author(s):  
Mateus Mussi Brugnolli ◽  
Bruno Augusto Angélico
Keyword(s):  
Model Predictive Control ◽  
Control Systems ◽  
Predictive Control ◽  
Inverted Pendulum ◽  
Parametric Optimization ◽  
Control Technique ◽  
Explicit Model ◽  
Complete Control ◽  
Explicit Model Predictive Control ◽  
Different Types

Model Predictive Control is a control technique that has been greatly investigated in recent years. It has the versatility of different types of models for the prediction of the system and aptitude to handle the system constraints. In the last decade, the multi-parametric optimization has been applied to the control theory that allowed for the MPC optimization to be performed offline, which was denominated as explicit Model Predictive Control. This work investigates the application of this control technique in Inverted Pendulum systems, which are commonly used as didactic control systems. The complete control design is described considering its validation for two Inverted Pendulum systems through simulations.

scholarly journals DISCRETE TIME MODEL PREDICTIVE CONTROL APPROACH FOR INVERTED PENDULUM SYSTEM WITH INPUT CONSTRAINTS

2015 ◽  
pp. 186-191
Author(s):  
HARSHITA JOSHI ◽  
NIMMY PAULOSE
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Discrete Time ◽  
Process Model ◽  
Inverted Pendulum ◽  
Time Model ◽  
Pendulum System ◽  
Control Approach ◽  
Inverted Pendulum System ◽  
Literature Selection

Model predictive control (MPC) includes a receding-horizon control techniques based on the process model for predictions of the plant output. Since late 1970’s several MPC approaches have been reported in the literature. Selection of the most appropriate MPC approach depend on the specific problem. In this paper, discrete time MPC is applied to a inverted pendulum system coupled to a cart. The objective of the MPC-controller is to drive the system towards pre-calculated trajectories that move the system from one reference point to another.Quadratic programming is used for optimization of objective function (with and without constraints).

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