Explicit Model Predictive Control for Inverted Pendulum Systems

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.