Hard constraints explicit model predictive control of an inverted pendulum

• Main Authors: Almurib, H.A.F., Askari, M., Moghavvemi, M.
• Format: Conference or Workshop Item
• Published: 2010
• Subjects: TA Engineering (General). Civil engineering (General)
• Online Access: http://eprints.um.edu.my/9744/

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 a...