Title :
Model predictive control of an inverted pendulum
Author :
Askari, Masood ; Mohamed, Haider A F ; Moghavvemi, M. ; Yang, S.S.
Author_Institution :
Centre for Res. in Appl. Electron.(CRAE), Univ. of Malaya, Kuala Lumpur, Malaysia
Abstract :
In this paper, model predictive control is applied to an inverted pendulum apparatus and the effect of input disturbance are studied. The optimization problem is solved on-line using quadratic programming approach on a PC hardware platform.
Keywords :
nonlinear systems; pendulums; predictive control; quadratic programming; PC hardware platform; input disturbance; inverted pendulum; model predictive control; optimization problem; quadratic programming approach; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Open loop systems; Predictive control; Predictive models; Robust control; Sensor phenomena and characterization; Shafts; Vehicle dynamics;
Conference_Titel :
Technical Postgraduates (TECHPOS), 2009 International Conference for
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-4244-5223-1
Electronic_ISBN :
978-1-4244-5224-8
DOI :
10.1109/TECHPOS.2009.5412069
