Hard constraints explicit model predictive control of an inverted pendulum
Document Type
Conference Item
Publication Date
1-1-2010
Abstract
In this paper, explicit model predictive controller is applied to an inverted pendulum apparatus. Explicit solutions to constrained linear model predictive controller can be computed by solving multi-parametric quadratic programs. The solution is a piecewise affine function, which can be evaluated at each sample to obtain the optimal control law. The on-line computation effort is restricted to a table-lookup. This admits implementation on low cost hardware at high sampling frequencies in real-time systems with high reliability and low software complexity. This is useful for systems with limited power and CPU resources.
Keywords
Constrained systems, Explicit model predictive control, Inverted pendulum, Constrained systems, CPU resources, Explicit model predictive control, Explicit models, Explicit solutions, Hard constraints, High reliability, inverted pendulum, Linear model, Low cost hardware, Online computations, Optimal control law, Piecewise affine functions, Quadratic programs, Sampling frequencies, Software complexity
Divisions
fac_eng
Event Title
2010 1st International Conference on Energy, Power and Control, EPC-IQ01 2010
Event Location
Basrah, Iraq
Event Dates
30 November-2 December 2010
Event Type
conference
Additional Information
ISBN: 978-095683300-6 Article number 576733