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Model Predictive Control in a Pendulum System

Giselsson, Pontus LU (2011) In Proceedings of the 31:th IASTED conference on Modelling, Identification and Control
Abstract
Model Predictive Control (MPC) is applied to a pendulum system consisting of a pendulum and a cart. The objective of the MPC-controller is to steer the system towards precalculated trajectories that move the system from one operating point to another. The sample time of the controller sets hard limitations on the execution time of the optimization routine in the MPC-controller. The optimization problem to solve is cast as a convex optimization problem that can be efficiently solved to allow for real time implementation. The control scheme is applied to a physical pendulum and cart system and the performance of the proposed controller is compared to optimal performance.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Model Predictive Control, Optimal control.
in
Proceedings of the 31:th IASTED conference on Modelling, Identification and Control
external identifiers
  • Scopus:79958143781
language
English
LU publication?
yes
id
dd30aea4-fa8d-4c59-9721-4839f88146ea (old id 8516639)
date added to LUP
2016-01-15 11:14:35
date last changed
2016-10-13 04:51:42
@misc{dd30aea4-fa8d-4c59-9721-4839f88146ea,
  abstract     = {Model Predictive Control (MPC) is applied to a pendulum system consisting of a pendulum and a cart. The objective of the MPC-controller is to steer the system towards precalculated trajectories that move the system from one operating point to another. The sample time of the controller sets hard limitations on the execution time of the optimization routine in the MPC-controller. The optimization problem to solve is cast as a convex optimization problem that can be efficiently solved to allow for real time implementation. The control scheme is applied to a physical pendulum and cart system and the performance of the proposed controller is compared to optimal performance.},
  author       = {Giselsson, Pontus},
  keyword      = {Model Predictive Control,Optimal control.},
  language     = {eng},
  series       = {Proceedings of the 31:th IASTED conference on Modelling, Identification and Control},
  title        = {Model Predictive Control in a Pendulum System},
  year         = {2011},
}