Global Stabilization of the Inverted Pendulum Using Model Predictive Control
نویسندگان
چکیده
Model Predictive Control (MPC) is used to improve the performance of energy control for swinging up a pendulum. A new MPC method is developed in continuous time, but it explicitly considers its digital implementation letting the control signal be piecewise constant. The stability properties of the algorithm are analyzed in terms of the free MPC design parameters. The achieved performance improvement is witnesses by a detailed simulation study.
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