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Parameters tuning effects in the model predictive control of an inverted pendulum
Author(s)
Chunhacha, Pongtorn
Date Issued
December 1, 2011
Type
Conference Paper
Abstract
This paper investigates the applicability of using model predictive control for an inverted pendulum system and observes its parameters tuning effects. The linear model predictive control under an input saturation constraint is applied to the nonlinear model of the inverted pendulum on cart system. Sampling period and prediction horizon are varied for investigating their influences to the system's stability and performance. The comparison between the linear quadratic regulator and the model predictive control with the same weighting matrices is additionally implemented. © 2011 IEEE.
Citation
IEEE Region 10 Annual International Conference Proceedings TENCON, 1080-1084, 2011