Parameters tuning effects in the model predictive control of an inverted pendulum

This paper investigates the applicability of using model predictive control for an inverted pendulum system and observes its parameters tuning effects. The linear model predictive control under an input saturation constraint is applied to the nonlinear model of the inverted pendulum on cart system. Sampling period and prediction horizon are varied for investigating their influences to the system´s stability and performance. The comparison between the linear quadratic regulator and the model predictive control with the same weighting matrices is additionally implemented.