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GLOBAL STABILIZATION OF THE INVERTED PENDULUM USING MODEL PREDICTIVE CONTROL
L. Magni, R. Scattolini*,1 K.J. Åström**
* Dipartimento di Informatica e Sistemistica, Università di Pavia, via
Ferrata 1, 27100 Pavia, Italy
e-mail: {lalo.magni, riccardo.scattolini}@unipv.it
WEB: http://conpro.unipv.it/lab/
** Department of Automatic Control, Lund Institute of Technology,
Box 118, S-22100 Lund, Sweden
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 piece-wise 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.
Keywords: Model Predictive Control, Inverted Pendulum, Nonlinear Systems
Session slot T-Fr-M07: Nonlinear Predicitive Control/Area code 2c : Non-linear Systems
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