Model predictive control of an inverted pendulum by Mixed Logical Dynamical approach
نویسندگان
چکیده
In this paper, we consider the solution of the control problem using the Mixed Logical Dynamical approach for inverted pendulum system. This approach is well adapted to hybrid systems because of its ability to address several issues such as model predictive control (MPC) of hybrid systems. Two topics are addressed: First, we start by proposing Mixed Logical Dynamical (MLD) formalism for the inverted pendulum. Then, we aim to determine the model predictive control law for the resultant system under constraints. Thereafter, we tried to find out the appropriate horizon prediction that improves the system performance in terms of computation time.
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