Hard constraints explicit model predictive control of an inverted pendulum

Almurib, H.A.F. and Askari, M. and Moghavvemi, M. (2010) Hard constraints explicit model predictive control of an inverted pendulum. In: 2010 1st International Conference on Energy, Power and Control, EPC-IQ01 2010, 30 November-2 December 2010, Basrah, Iraq.

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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.

Item Type: Conference or Workshop Item (Paper)
Additional Information: ISBN: 978-095683300-6 Article number 576733
Uncontrolled 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
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 27 Mar 2014 02:11
Last Modified: 23 Nov 2017 02:33
URI: http://eprints.um.edu.my/id/eprint/9744

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