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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| Format: | Article |
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MDPI AG
2021-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/1/243 |
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| author | Lotfi Messikh El-Hadi Guechi Sašo Blažič |
| author_facet | Lotfi Messikh El-Hadi Guechi Sašo Blažič |
| author_sort | Lotfi Messikh |
| collection | DOAJ |
| description | 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 yields an MPC controller with four tuning parameters. The first two parameters, namely the horizon time and the relative cart–pendulum weight factor, are automatically adjusted to ensure a priori prescribed system gain margin and fast pendulum response while the remaining two parameters, namely the pendulum and cart velocity weight factors, are maintained as free tuning parameters. The comparison of the proposed method with some optimal control methods in the absence of disturbance input shows an obvious advantage in the average peak efficiency in favor of the proposed SIMO MPC controller at the price of slightly reduced speed efficiency. Additionally, none of the compared controllers can achieve a system gain margin greater than 1.63, while the proposed one can go beyond that limit at the price of additional degradation in the speed efficiency. |
| first_indexed | 2024-03-10T03:21:05Z |
| format | Article |
| id | doaj.art-67fb9c5a757847c89ab85d9f72456c7b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:21:05Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-67fb9c5a757847c89ab85d9f72456c7b2023-11-23T12:19:14ZengMDPI AGSensors1424-82202021-12-0122124310.3390/s22010243Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC ControllersLotfi Messikh0El-Hadi Guechi1Sašo Blažič2Laboratoire d’Automatique de Skikda (LAS), Département de Génie Électrique, Faculté de Technologie, Université 20 Août 1955, BP 26, Route El-Hadaeik, Skikda 21000, AlgeriaLaboratoire d’Automatique de Skikda (LAS), Département de Génie Électrique, Faculté de Technologie, Université 20 Août 1955, BP 26, Route El-Hadaeik, Skikda 21000, AlgeriaFaculty of Electrical Engineering, University of Ljubljana, Tržaška 25, 1000 Ljubljana, SloveniaIn 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 yields an MPC controller with four tuning parameters. The first two parameters, namely the horizon time and the relative cart–pendulum weight factor, are automatically adjusted to ensure a priori prescribed system gain margin and fast pendulum response while the remaining two parameters, namely the pendulum and cart velocity weight factors, are maintained as free tuning parameters. The comparison of the proposed method with some optimal control methods in the absence of disturbance input shows an obvious advantage in the average peak efficiency in favor of the proposed SIMO MPC controller at the price of slightly reduced speed efficiency. Additionally, none of the compared controllers can achieve a system gain margin greater than 1.63, while the proposed one can go beyond that limit at the price of additional degradation in the speed efficiency.https://www.mdpi.com/1424-8220/22/1/243cart–inverted pendulum (CIP) systemexplicit control scheme (ECS)cascade control schememodel predictive control (MPC)coefficient diagram method (CDM)coincident pole placement method (CPP) |
| spellingShingle | Lotfi Messikh El-Hadi Guechi Sašo Blažič Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers Sensors 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) |
| title | Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers |
| title_full | Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers |
| title_fullStr | Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers |
| title_full_unstemmed | Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers |
| title_short | Stabilization of the Cart–Inverted-Pendulum System Using State-Feedback Pole-Independent MPC Controllers |
| title_sort | stabilization of the cart inverted pendulum system using state feedback pole independent mpc controllers |
| topic | 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) |
| url | https://www.mdpi.com/1424-8220/22/1/243 |
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