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.
Full text not available from this repository.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) |
|---|---|
| Funders: | UNSPECIFIED |
| 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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