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Hard constraints explicit model predictive control of an inverted pendulum

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...

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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/
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spelling my.um.eprints.97442017-11-23T02:33:48Z http://eprints.um.edu.my/9744/ Hard constraints explicit model predictive control of an inverted pendulum Almurib, H.A.F. Askari, M. Moghavvemi, M. TA Engineering (General). Civil engineering (General) 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. 2010 Conference or Workshop Item PeerReviewed 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.
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic TA Engineering (General). Civil engineering (General)
spellingShingle TA Engineering (General). Civil engineering (General)
Almurib, H.A.F.
Askari, M.
Moghavvemi, M.
Hard constraints explicit model predictive control of an inverted pendulum
description 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.
format Conference or Workshop Item
author Almurib, H.A.F.
Askari, M.
Moghavvemi, M.
author_facet Almurib, H.A.F.
Askari, M.
Moghavvemi, M.
author_sort Almurib, H.A.F.
title Hard constraints explicit model predictive control of an inverted pendulum
title_short Hard constraints explicit model predictive control of an inverted pendulum
title_full Hard constraints explicit model predictive control of an inverted pendulum
title_fullStr Hard constraints explicit model predictive control of an inverted pendulum
title_full_unstemmed Hard constraints explicit model predictive control of an inverted pendulum
title_sort hard constraints explicit model predictive control of an inverted pendulum
publishDate 2010
url http://eprints.um.edu.my/9744/
_version_ 1643688643970203648
score 13.160551

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