Title :
A new robust model predictive control strategy for rotational inverted pendulum system
Author :
Ghanavati, Meysam ; Mobayen, Saleh ; Majd, Vahid Johari
Abstract :
This paper presents a method to design a predictive controller for a Rotational Inverted Pendulum (RIP) system. The design goal is to balance the pendulum in the inverted position. After linearization, the model of RIP system is transformed to a linear polytopic system with bounded disturbances and a new robust model predictive control (RMPC) strategy is developed for this system. Simulation results are presented to show the robustness of the closed-loop system against parameter variations and disturbances. The proposed method can be considered as a promising way for control of various similar nonlinear systems.
Keywords :
control system synthesis; linearisation techniques; nonlinear control systems; pendulums; predictive control; robust control; linear polytopic system; linearization; nonlinear system; predictive controller design; robust model predictive control strategy; rotational inverted pendulum system; Computational modeling; Mathematical model; Predictive control; Predictive models; Robustness; Uncertainty; Yttrium;
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.2011.6072589
