Title :
Experimental evaluation of model predictive control of ball and beam systems
Author :
Hara, N. ; Takahashi, M. ; Konishi, K.
Author_Institution :
Dept. of Electr. & Inf. Syst., Osaka Prefecture Univ., Sakai, Japan
fDate :
June 29 2011-July 1 2011
Abstract :
In this paper, we discuss the control of a ball and beam system subject to an input constraint. Model predictive control (MPC) approaches are employed to derive a nonlinear control law satisfying the constraint. The control law is given by solving the optimization problem at each sample time, where the primal-dual interior point algorithm is implemented and used as the optimization solver. An experimental comparison of three control methods, two different MPCs and saturated LQR, has been presented for the control of the ball and beam system.
Keywords :
linear quadratic control; nonlinear control systems; predictive control; LQR; ball-beam system; model predictive control approach; nonlinear control law; optimization problem; primal-dual interior point algorithm; Attenuation; Control systems; DC motors; Optimization; Predictive control; Predictive models; Robustness;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991299
