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...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
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2010
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| _version_ | 1825719757437927424 |
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| 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. |
| collection | UM |
| 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. |
| first_indexed | 2024-03-06T05:24:38Z |
| format | Conference or Workshop Item |
| id | um.eprints-9744 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:24:38Z |
| publishDate | 2010 |
| record_format | dspace |
| spelling | 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. |
| 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 |
| title | 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_short | Hard constraints explicit model predictive control of an inverted pendulum |
| title_sort | hard constraints explicit model predictive control of an inverted pendulum |
| topic | TA Engineering (General). Civil engineering (General) |
| work_keys_str_mv | AT almuribhaf hardconstraintsexplicitmodelpredictivecontrolofaninvertedpendulum AT askarim hardconstraintsexplicitmodelpredictivecontrolofaninvertedpendulum AT moghavvemim hardconstraintsexplicitmodelpredictivecontrolofaninvertedpendulum |