A new robust model predictive control strategy for rotational inverted pendulum system

Author

Ghanavati, Meysam ; Mobayen, Saleh ; Majd, Vahid Johari

fYear

2011

fDate

15-16 Sept. 2011

Firstpage

33

Lastpage

38

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;

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.2011.6072589

Filename

6072589