Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers

Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers

In this paper, a pole-independent, single-input, multi-output explicit linear MPC controller is proposed to stabilize the fourth-order cart–inverted-pendulum system around the desired equilibrium points. To circumvent an obvious stability problem, a generalized prediction model is proposed that yiel...

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Bibliographic Details
Main Authors: Lotfi Messikh, El-Hadi Guechi, Sašo Blažič
Format: Article
Language:English
Published: MDPI AG 2021-12-01
Series:Sensors
Subjects:
cart–inverted pendulum (CIP) system
explicit control scheme (ECS)
cascade control scheme
model predictive control (MPC)
coefficient diagram method (CDM)
coincident pole placement method (CPP)
Online Access:https://www.mdpi.com/1424-8220/22/1/243

Internet

https://www.mdpi.com/1424-8220/22/1/243

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