Noise and Disturbance Rejection Performance Evaluation on Explicit Model Predictive Control Technique Applied to Inverted Pendulum with Various Test Scenarios

An inverted pendulum on a cart (IPC) system, which is widely used test environment for controller design due to ease of applicability, has the opportunity be applied in different fields with nonlinear and under-actuated characteristics. In this study, performance explicit MPC control method been examined against noise disturbances by using two cases analysis approaches. Different trajectory tracking, disturbance, situations have taken into account elaborated scenarios. The numerical applications performed model predictive toolbox Matlab®/Simulink®. advantages drawbacks discussed terms time-domain specifications.