Discrete Time Model Predictive Control Approach for Inverted Pendulum System with Input Constraints
نویسندگان
چکیده
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). Keywordsinverted pendulum; model predictive control; quadratic programming; unconstrained and constrained optimization.
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