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Optimization of a Pendulum System using Optimica and Modelica

Giselsson, Pontus LU ; Åkesson, Johan LU and Robertsson, Anders LU (2009) 7th International Modelica Conference, 2009
Abstract
In this paper Modelica and Optimica are used to solve two different optimal control problems for a system consisting of a pendulum and a cart. These optimizations will demonstrate that Optimica is easy to use and powerful when optimizing systems with highly non-linear dynamics. The optimal control trajectories are applied to a real pendulum and cart system, in open loop as well as in closed loop with an MPC-controller. The experiments show that optimal trajectories from Optimica together with MPC feedback is a suitable control structure when optimal transitions through non-linear dynamics are desired.
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Optimal control, Optimica, Modelica
conference name
7th International Modelica Conference, 2009
language
English
LU publication?
yes
id
79b5fb71-d9eb-4c4f-abf0-a9dbddf4f92b (old id 1625371)
date added to LUP
2010-06-30 09:02:25
date last changed
2016-07-01 11:10:55
@misc{79b5fb71-d9eb-4c4f-abf0-a9dbddf4f92b,
  abstract     = {In this paper Modelica and Optimica are used to solve two different optimal control problems for a system consisting of a pendulum and a cart. These optimizations will demonstrate that Optimica is easy to use and powerful when optimizing systems with highly non-linear dynamics. The optimal control trajectories are applied to a real pendulum and cart system, in open loop as well as in closed loop with an MPC-controller. The experiments show that optimal trajectories from Optimica together with MPC feedback is a suitable control structure when optimal transitions through non-linear dynamics are desired.},
  author       = {Giselsson, Pontus and Åkesson, Johan and Robertsson, Anders},
  keyword      = {Optimal control,Optimica,Modelica},
  language     = {eng},
  title        = {Optimization of a Pendulum System using Optimica and Modelica},
  year         = {2009},
}