Title :
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
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;
Conference_Titel :
Control and Communications (SIBCON), 2011 International Siberian Conference on
Conference_Location :
Krasnoyarsk
Print_ISBN :
978-1-4577-1069-8
DOI :
10.1109/SIBCON.2011.6072588
