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

Author

Chunhacha, Pongtorn ; Benjanarasuth, Taworn

Author_Institution

Fac. of Eng., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok, Thailand

fYear

2011

fDate

21-24 Nov. 2011

Firstpage

1080

Lastpage

1084

Abstract

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.

Keywords

linear systems; matrix algebra; nonlinear control systems; pendulums; predictive control; stability; cart system; input saturation constraint; inverted pendulum system; linear model predictive control; linear quadratic regulator; parameters tuning effects; prediction horizon; sampling period; system stability; weighting matrices; Control systems; Force; Mathematical model; Performance analysis; Predictive control; Predictive models; Tuning; LQR; MPC; inverted pendulum; linear quardratic regulator; model predictive control;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 2011 - 2011 IEEE Region 10 Conference

Conference_Location

Bali

ISSN

2159-3442

Print_ISBN

978-1-4577-0256-3

Type

conf

DOI

10.1109/TENCON.2011.6129277

Filename

6129277