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Hard Constraints Explicit Model Predictive Control of an Inverted Pendulum | ||
| Iraqi Journal for Electrical And Electronic Engineering | ||
| Article 1, Volume 6, Issue 1, 2010, Pages 28-32 PDF (0 K) | ||
| DOI: 10.33762/eeej.2010.54340 | ||
| Authors | ||
| Haider A. F. Mohamed; Masood Askari and M. Moghavvemi | ||
| 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 | ||
| explicit model predictive control; inverted pendulum; constrained systems | ||
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