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Optimization of a Pendulum System using Optimica and Modelica

Giselsson, Pontus LU orcid ; 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.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Contribution to conference
publication status
published
keywords
Optimal control, Optimica, Modelica
conference name
7th International Modelica Conference, 2009
conference location
Como, Italy
conference dates
2009-09-20 - 2009-09-22
language
English
LU publication?
yes
id
79b5fb71-d9eb-4c4f-abf0-a9dbddf4f92b (old id 1625371)
date added to LUP
2016-04-04 12:51:15
date last changed
2025-04-03 22:33:20
@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}},
  keywords     = {{Optimal control; Optimica; Modelica}},
  language     = {{eng}},
  title        = {{Optimization of a Pendulum System using Optimica and Modelica}},
  url          = {{https://lup.lub.lu.se/search/files/6009687/3131664.pdf}},
  year         = {{2009}},
}