Control of Inverted Pendulum system by using a new robust model predictive control strategy

Author

Ghanavati, Meysam ; Majd, Vahid Johari ; Ghanavati, Malek

Author_Institution

Tarbiat Modares Univ. of Tehran, Tehran, Iran

fYear

2011

fDate

15-16 Sept. 2011

Firstpage

27

Lastpage

32

Abstract

This paper presents a method to design a predictive controller for a single Inverted Pendulum (SIP) system. The design goal is to balance the pendulum in the inverted position in the presence of parameter variations and measurement white noise Using linearization technique, the model of SIP system is transformed to a linear polytopic system. Since we need to estimation of states, a new robust model predictive control (RMPC) strategy is developed for this system with considering white measurement noise. Simulation results are presented to show the robustness of the closed-loop system against parameter variations and measurement white noise.

Keywords

closed loop systems; control system synthesis; linear systems; linearisation techniques; nonlinear control systems; pendulums; predictive control; robust control; state estimation; white noise; closed-loop system; linear polytopic system; linearization technique; measurement white noise; parameter variations; predictive controller design; robust model predictive control strategy; single inverted pendulum control system; state estimation; Computational modeling; Mathematical model; Noise measurement; Predictive control; Predictive models; Robustness; White noise; H2 norm; LMI; noise measurement; polytpoic systems; robust predictive control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Communications (SIBCON), 2011 International Siberian Conference on

Conference_Location

Krasnoyarsk

Print_ISBN

978-1-4577-1069-8

Type

conf

DOI

10.1109/SIBCON.2011.6072588

Filename

6072588